Actuator Family

Three actuators. One motion stack.

TK-120, TK-240, and TK-480 share the same FOC firmware, the same ROS 2 node, and the same CANopen object dictionary. Pick the torque class; keep the same integration path.

18–95 Nm Continuous torque range
120–480 mm Outer diameter range
400 Hz FOC bandwidth (all models)
Specifications

Side-by-side comparison

All models share CiA 402 CANopen, EtherCAT CoE, and the same firmware update path. Specs are measured at 25°C, 48 V nominal supply.

Specification TK-120 Compact Joint TK-240 High-Torque TK-480 Industrial IP67
Outer Diameter 120 mm 240 mm 480 mm
Continuous Torque 18 Nm 42 Nm 95 Nm
Peak Torque 54 Nm 126 Nm 285 Nm
Gear Ratio 100:1 120:1 160:1
Gearbox Type Harmonic drive Harmonic drive Planetary + harmonic
Encoder Resolution 19-bit 19-bit 21-bit
FOC Bandwidth 400 Hz 400 Hz 400 Hz
Bus Interface CANopen CANopen + EtherCAT EtherCAT (primary)
Torque Density 28 Nm/kg 42 Nm/kg 38 Nm/kg
Backdrivability Yes Yes Yes (reduced ratio)
Cogging Torque RMS 0.08 Nm 0.12 Nm 0.18 Nm
Supply Voltage 24–48 V 48 V 48–72 V
IP Rating IP54 IP54 IP67
Mass 0.64 kg 1.01 kg 2.50 kg
ROS 2 Node
micro-ROS Support
MoveIt 2 SRDF Provided
View TK-120 View TK-240 View TK-480
Models

Choose by joint position and payload

TK-120
Compact joint — 120 mm OD

Designed for distal joints — wrist, elbow, ankle — where form factor limits actuator diameter. Harmonic drive, 100:1 ratio, CANopen CiA 402 bus. Continuous torque 18 Nm at 0.64 kg.

  • 18 Nm continuous / 54 Nm peak
  • 100:1 harmonic drive ratio
  • 19-bit magnetic encoder
  • CANopen CiA 402
  • IP54 sealed
Full Specifications Request Sample
TK-240
High-torque — 240 mm OD

Mid-body joints — hip, knee, shoulder — where torque density is the binding constraint. 42 Nm/kg at 1.01 kg. EtherCAT and CANopen on the same board. Used in humanoid OEM evaluation programs.

  • 42 Nm continuous / 126 Nm peak
  • 120:1 harmonic drive ratio
  • 19-bit magnetic encoder
  • CANopen + EtherCAT CoE
  • IP54 sealed
Full Specifications Request Sample
TK-480
Industrial — 480 mm OD, IP67

Waist, spine, and heavy-payload manipulation where environmental ingress protection and sustained peak torque are required. Planetary + harmonic compound gearbox. EtherCAT primary, 21-bit encoder, 95 Nm continuous.

  • 95 Nm continuous / 285 Nm peak
  • 160:1 planetary + harmonic
  • 21-bit magnetic encoder
  • EtherCAT CoE primary
  • IP67 sealed
Full Specifications Request Sample
Common Platform

One codebase across all three actuators

Switching from TK-120 to TK-240 means swapping a URDF link — not re-writing your control stack.

Same STM32 FOC Firmware
All three actuators run the same Field-Oriented Control codebase on STM32G4 series MCU. 400 Hz control loop, same register map, same error codes.
ROS 2 Node Identical
The ROS 2 hardware interface node and micro-ROS transport layer are the same binary. Joint name is parameter-configurable. No rebuild needed between models.
Same CiA 402 Object Dictionary
CANopen CiA 402 profile and EtherCAT CoE object dictionary use the same index layout across models. PLC and robotics controller SDOs work without re-mapping.
URDF / SRDF per Model
Dimensional URDF for each actuator ships in the SDK package. MoveIt 2 SRDF with collision geometry included. Drop-in to your robot description package.

Scope note: TK actuators are not general-purpose servo motors. They are designed for applications where the control architecture requires backdrivability, sub-cycle torque bandwidth, and a live ROS 2 joint state — humanoid limbs, exoskeleton joints, and high-DOF manipulation. If your application cycles between fixed positions at 0.5–2 Hz under simple PLC control, a standard industrial servo will serve you better at lower cost. We will tell you this directly if you contact us and your requirements don't match our product focus.

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