From industrial robots for human-robot collaboration (HRC) to medical robots to force feedback solutions – with its patented torque sensors, and unique integration and control know-how, Sensodrive has created a new era in robotics. This market-leading sensor technology is also at the heart of the SensoJoint – a ready-to-install complete drive that makes the development of sensitive robotics solutions faster and more efficient than ever before.
This unique Plug & Play actuator made in Germany not only sets new standards in terms of performance, precision and quality – thanks to its perfectly compatible individual components, SensoJoints are as compact as they are light and can be integrated optimally into any robotics concept.
Developing your own robotics solutions costs time and money. SensoJoints are ready to install and easy to integrate thanks to their standard hardware and software interfaces. In addition, they are already fully safety-certified1 and fulfil all key safety requirements for HRC robotics.
SensoJoints are available in five sizes and can also be supplied in individual designs and performance levels if required. So you receive a customised actuator for each application that can be integrated into your products right away – without long development times.
From the innovative Sensodrive torque sensor to the market-leading HarmonicDrive® gear to the powerful motors – only high-quality components that are perfectly compatible with each other are installed in the SensoJoints drive modules.
Sensodrive torque technology is used in the cobots of many renowned industrial and medical robot manufacturers. We are making this innovative technology available in a complete drive for the first time with SensoJoints, offering you the highest level of safety for your robotics solutions.
SensoJoints are already certified in accordance with all key international safety standards - such as e. g: ISO 13849, IEC 62061, IEC 61508 and DIN ISO/TS 15066 (from 2024). So there's no need to go through any more lengthy certification processes.
Thanks to market-leading sensor technology and precise, highly safe control technology, SensoJoints offer maximum reliability in every respect so that robots and humans can work together safely without protective fences.
Sensodrive only uses high-quality components that are perfectly compatible with each other. SensoJoints are therefore completely maintenance-free and set new standards in terms of their durability.
High-quality lightweight materials, market-leading torque sensors and precise finishing ensure reliable product quality that is worth the investment. SensoJoints are extremely robust and completely maintenance-free.
Size and weight are reduced to an absolute minimum thanks to the perfect compatibility of all components and the use of sturdy, lightweight materials.
The innovative Sensodrive torque control ensures that motions are executed with maximum precision – without any oscillation.
Particularly powerful motors and market-leading gears with output bearing enable safe and reliable power transmission.
SensoJoints also set new standards in the medical sector. Their torque sensors and state-of-the-art control technology can prevent e.g. disruptive and sometimes even dangerous vibrations of surgical microscopes, thanks to groundbreaking technology.
SensoJoints are the perfect sensitive drive solution for robot joints. They are used in lightweight robots by renowned manufacturers around the world to enable successful human-robot collaboration (HRC) and delicate assembly work.
Due to their sensitivity and extremely compact design, SensoJoints are also perfect for force feedback applications. They guarantee the safe interaction of people and machines without protective devices and enable realistic simulations even on a large scale.
In the factory of the future, SensoJoints will improve efficiency in a wide variety of areas. For example, as part of a modern exoskeleton to support lifting heavy loads. Or for maintaining perfectly steady tension in winding machines.
Let our experts demonstrate the advantages that SensoJoints can offer your industry and your company. We will be happy to advise you on an individual basis.
from left to right:
From the particularly small SensoJoint 3000 for use in hand axes to the powerful SensoJoint 7000 for large main axes – the innovative complete drives are available in 5 standard sizes and can also be individually customised to your requirements if necessary.
Technical data SensoJoint 3000
SensoJoint Serie |
3000 | ||
Gearbox type | Harmonic Drive | ||
Torque sensor | completely integrated | ||
Motor | BLDC Motor | ||
Motor controller | completely integrated | ||
Brake | completely integrated | ||
Supply voltage [VDC] | 48 | ||
Communikation interface | EtherCAT® | ||
Safety function | STO by digital inputs (24 VDC) | ||
Output bearing | cross roller bearing | ||
Position sensor outputside | 19bit absolut 18bit multiturn |
||
SensoJoint Products | 3005 | 3008 | 3010 |
Reduction ratio | 1:51 | 1:81 | 1:101 |
Max. input current [A] | 4 | 3 | 3 |
Rated output torque [Nm] | 5,4 | 7,8 | 7,8 |
Max. output torque [Nm] | 18 | 23 | 28 |
Rated output speed [min-1] | 39 | 24 | 19 |
Max. speed (no load) [min-1] | 117 | 74 | 59 |
Length [mm] | 150,5 | ||
Diameter [mm] | 90,0 | ||
Diameter hollow shaft [mm] | 9,0 | ||
Weight [kg] | approx. 1,3 | ||
3D-Model (STEP) | SensoJoint 3000 | ||
Further technical information | We would be pleased to answer any questions you may have and send you the CAD data of our SensoJoints |
Technical data SensoJoint 4000
SensoJoint Serie |
4000 | ||
Gearbox type | Harmonic Drive | ||
Torque sensor | completely integrated | ||
Motor | BLDC Motor | ||
Motor controller | completely integrated | ||
Brake | completely integrated | ||
Supply voltage [VDC] | 48 | ||
Communikation interface | EtherCAT® | ||
Safety function | STO by digital inputs (24 VDC) | ||
Output bearing | cross roller bearing | ||
Position sensor outputside | 19bit absolut 18bit multiturn |
||
SensoJoint Products | 4005 | 4008 | 4010 |
Reduction ratio | 1:51 | 1:81 | 1:101 |
Max. current [A] | 6 | 6 | 6 |
Rated output torque [Nm] | 16 | 22 | 24 |
Max. output torque [Nm] | 34 | 43 | 54 |
Rated output speed [min-1] | 39 | 24 | 19 |
Max. speed (no load) [min-1] | 117 | 74 | 59 |
Length [mm] | 164,1 | ||
Diameter [mm] | 90,0 | ||
Diameter hollow shaft [mm] | 9,0 | ||
Weight [kg] | approx. 1,7 | ||
3D-Model (STEP) | SensoJoint 4000 | ||
Further technical information | We would be pleased to answer any questions you may have and send you the CAD data of our SensoJoints |
Technical Data SensoJoint 5000
SensoJoint Serie |
5000 | ||||
Gearbox type | Harmonic Drive | ||||
Torque sensor | completely integrated | ||||
Motor | BLDC Motor | ||||
Motor controller | completely integrated | ||||
Brake | completely integrated | ||||
Supply voltage [VDC] | 48 | ||||
Communikation interface | EtherCAT® | ||||
Safety function | STO by digital inputs (24 VDC) | ||||
Output bearing | cross roller bearing | ||||
Position sensor outputside | 19bit absolut 18bit multiturn |
||||
SensoJoint Products | 5005 | 5008 | 5010 |
5012 | 5016 |
Reduction ratio | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 |
Max. intput curent [A] | 6 | 6 | 6 | 6 | 6 |
Rated output torque [Nm] | 19 | 30 | 38 | 45 | 52 |
Max. output torque [Nm] | 62 | 96 | 107 | 113 | 120 |
Rated output speed [min-1] | 39 | 24 | 19 | 16 | 12 |
Max. speed (no load) [min-1] | 117 | 74 | 59 | 49 | 37 |
Length [mm] | 172,5 | ||||
Diameter [mm] | 100,0 | ||||
Diameter hollow shaft [mm] | 9,0 | ||||
Weight [kg] | approx. 2,0 | ||||
3D-Model (STEP) | SensoJoint 5000 | ||||
Further technical information | We would be pleased to answer any questions you may have and send you the CAD data of our SensoJoints |
Technical Data SensoJoint 6000
SensoJoint Serie |
6000 | |||
Gearbox type | Harmonic Drive | |||
Torque sensor | completely integrated | |||
Motor | BLDC Motor | |||
Motor controller | completely integrated | |||
Brake | completely integrated | |||
Supply voltage [VDC] | 48 | |||
Communikation interface | EtherCAT® | |||
Safety function | STO by digital inputs (24 VDC) | |||
Output bearing | cross roller bearing | |||
Position sensor outputside | 20bit absolut 18bit multiturn |
|||
SensoJoint Products | 6005 | 6008 | 6010 | 6012 |
Reduction ratio | 1:51 | 1:81 | 1:101 | 1:121 |
Max. input current [A] | 10 | 10 | 10 | 10 |
Rated output torque [Nm] | 39 | 63 | 67 | 67 |
Max. output torque [Nm] | 98 | 137 | 157 | 167 |
Rated output speed [min-1] | 39 | 24 | 19 | 16 |
Max. speed (no load) [min-1] | 75 | 46 | 37 | 31 |
Length [mm] | 192,4 | |||
Diameter [mm] | 117,0 | |||
Diameter hollow shaft [mm] | 13,0 | |||
Weight [kg] | approx. 3,4 | |||
3D-Model (STEP) | SensoJoint 6000 | |||
Further technical information | We would be pleased to answer any questions you may have and send you the CAD data of our SensoJoints |
Technical Data SensoJoint 7000
SensoJoint Serie |
7000 | ||||
Gearbox type | Harmonic Drive | ||||
Torque sensor | completely integrated | ||||
Motor | BLDC Motor | ||||
Motor controller | completely integrated | ||||
Brake | completely integrated | ||||
Supply voltage [VDC] | 48 | ||||
Communikation interface | EtherCAT® | ||||
Safety function | STO by digital inputs (24 VDC) | ||||
Output bearing | cross roller bearing | ||||
Position sensor outputside | 20bit absolut 18bit multiturn |
||||
SensoJoint Products | 7005 | 7008 | 7010 | 7012 | 7016 |
Reduction ratio | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 |
Max. input current | 10 | 12 | 12 | 12 | 12 |
Rated output torque [Nm] | 51 | 81 | 101 | 121 | 137 |
Max. output torque [Nm] | 166 | 208 | 208 | 208 | 208 |
Rated output speed [min-1] | 39 | 24 | 19 | 16 | 12 |
Max. speed (no load) [min-1] | 94 | 59 | 47 | 39 | 29 |
Length [mm] | 204,0 | ||||
Diameter [mm] | 145,0 | ||||
Diameter hollow shaft [mm] | 19,0 | ||||
Weight [kg] | approx. 5,5 | ||||
3D-Model (STEP) | SensoJoint 7000 | ||||
Further technical information | We would be pleased to answer any questions you may have and send you the CAD data of our SensoJoints |
SensoJoint customized
We can develop the perfect solution for you – especially according to your requirements.
Please inquire!
Technical Data of all SensoJoints in comparison
SensoJoint Serie |
3000 | 4000 | 5000 | 6000 | 7000 | |||||||||||||||
Gearbox type | Harmonic Drive | |||||||||||||||||||
Torque sensor | completely integrated | |||||||||||||||||||
Motor | BLDC Motor | |||||||||||||||||||
Motor controller | completely integrated | |||||||||||||||||||
Brake | completely integrated | |||||||||||||||||||
Supply voltage [VDC] | 48 | |||||||||||||||||||
Communikation interface | EtherCAT® | |||||||||||||||||||
Safety function | STO by digital inputs (24 VDC) | |||||||||||||||||||
Output bearing | cross roller bearing | |||||||||||||||||||
Position sensor outputside | 19bit absolut 18bit multiturn |
20bit absolut 18bit multiturn |
||||||||||||||||||
SensoJoint Products | 3005 | 3008 | 3010 | 4005 | 4008 | 4010 | 5005 | 5008 | 5010 | 5012 | 5016 | 6005 | 6008 | 6010 | 6012 | 7005 | 7008 | 7010 | 7012 | 7016 |
Reduction ratio | 1:51 | 1:81 | 1:101 | 1:51 | 1:81 | 1:101 | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 | 1:51 | 1:81 | 1:101 | 1:121 | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 |
Max. input current [A] | 4 | 3 | 3 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 10 | 10 | 10 | 10 | 10 | 12 | 12 | 12 | 12 |
Rated output torque [Nm] | 5,4 | 7,8 | 7,8 | 16 | 22 | 24 | 19 | 30 | 38 | 45 | 52 | 39 | 63 | 67 | 67 | 51 | 81 | 101 | 121 | 137 |
Max. output torque [Nm] | 18 | 23 | 28 | 34 | 43 | 54 | 62 | 96 | 107 | 113 | 120 | 98 | 137 | 157 | 167 | 166 | 208 | 208 | 208 | 208 |
Rated output speed [min-1] | 39 | 24 | 19 | 39 | 24 | 19 | 39 | 24 | 19 | 16 | 12 | 39 | 24 | 19 | 16 | 39 | 24 | 19 | 16 | 12 |
Max. speed (no load) [min-1] | 117 | 74 | 59 | 117 | 74 | 59 | 117 | 74 | 59 | 49 | 37 | 75 | 46 | 37 | 31 | 94 | 59 | 47 | 39 | 29 |
Length [mm] | 150,5 | 164,1 | 172,5 | 192,4 | 204,0 | |||||||||||||||
Diameter [mm] | 90,0 | 90,0 | 100,0 | 117,0 | 145,0 | |||||||||||||||
Diameter hollow shaft [mm] | 9,0 | 9,0 | 9,0 | 13,0 | 19,0 | |||||||||||||||
Weight [kg] | approx. 1,3 | approx. 1,7 | approx. 2,0 | approx. 3,4 | approx. 5,5 | |||||||||||||||
3D-Model(STEP) | SensoJoint 3000 | SensoJoint 4000 | SensoJoint 5000 | SensoJoint 6000 | SensoJoint 7000 | |||||||||||||||
Further technical information | We would be pleased to answer any questions you may have and send you the CAD data of our SensoJoints |
EtherCAT® and Safety over EtherCAT® are registered trademarks and patented technologies licensed by Beckhoff Automation GmbH, Germany.
SensoJoints not only accelerate the planning and development of new cobot solutions. Their compact design and standard interfaces also enable even faster prototype assembly.
Space, Industry 4.0, medical technology, the automotive industry ... the potential applications for the sensitive SensoJoint complete drives are almost unlimited. See for yourself.