CPM-78-39 Integrated Cycloidal Joint Module¶
Product Overview¶
CPM-78-39 is a compact cycloidal robot joint module designed for applications that require high torque, low backlash and a short axial package.
The standard catalog configuration uses Hall sensors and does not include an integrated driver or absolute encoder. Driver, communication and closed-loop control functions must not be assumed unless they are separately confirmed in the quotation and technical agreement.
Product Identity¶
| Item | Description |
|---|---|
| Model | CPM-78-39 |
| Product type | Integrated cycloidal robot joint module |
| Transmission | Cycloidal pinwheel |
| Main material | Steel |
| Standard sensor | Hall sensors |
| Integrated driver | Not included in the standard catalog configuration |
Key Benefits¶
- Compact 78.7 mm outer diameter
- Thin 35.8 mm axial profile
- 20 Nm rated output torque
- 52 Nm peak output torque
- 5–10 arcmin backlash
- 39:1 reduction ratio
- Steel construction
- Hall-sensor motor configuration
Key Specifications¶
| Parameter | Value |
|---|---|
| Transmission structure | Cycloidal pinwheel |
| Outer diameter | 78.7 mm |
| Product thickness | 35.8 mm |
| Reduction ratio | 39:1 |
| Backlash | 5–10 arcmin |
| Operating voltage | 36 VDC |
| Rated motor power | 200 W |
| Rated output speed | 48 rpm |
| No-load output speed | 54 rpm |
| Rated output torque | 20 Nm |
| Peak output torque | 52 Nm |
| Weight | 600 g |
Electrical Parameters¶
| Parameter | Value |
|---|---|
| Hall angle | 120° |
| Phase resistance | 0.225 Ω |
| Phase inductance | 425 µH |
| Maximum phase current | 13 A |
| Rated bus current | 5 A |
| Static working bus current | 0.1 A |
| Motor structure | 24P28N, catalog notation |
| Temperature sensor | MF52B |
| Back-EMF constant | 0.149 Vs/rad |
Peak Torque Condition¶
Peak torque: 52 Nm
Peak duration depends on current limit, duty cycle, cooling, installation and ambient conditions. Confirm the required peak-torque duration with SigGear before selection.
Sensor and Driver Configuration¶
The standard CPM-78-39 catalog configuration uses Hall sensors.
The following features are not included as standard claims for this model:
- Integrated driver
- MA600 absolute encoder
- CAN communication
- RS485 communication
- EtherCAT communication
- Position, velocity or torque closed-loop control
Any external driver, encoder, communication interface or control solution must be evaluated and confirmed as a separate project configuration.
Recommended Applications¶
- Humanoid robot joints
- Robotic arms
- Exoskeleton joints
- Quadruped robot joints
- Rehabilitation robots
- Compact automation axes
Public Engineering Resources¶
CPM-78-39 Technical Datasheet v1.0 Mechanical Interface Reference v1.0
CAD and Drawings¶
A controlled 2D drawing is available for engineering review. A public STEP model is not currently released in this repository. Detailed mounting drawings and configuration-specific interface documents are available upon request.
Please provide the application, required torque and speed, duty cycle, installation envelope, controller configuration and estimated quantity.
Custom Cycloidal Transmission Engineering
Request CAD Files: Contact Wanrong Wang
Contact SigGear¶
Wanrong Wang
International Sales, SigGear
wangwanrong@siggear.com