# Leadshine HJ2-110F101D24-NK-EC Harmonic Integrated Actuator (110 mm, EtherCAT)

![Leadshine HJ2-110F101D24-NK-EC Harmonic Integrated Actuator (110 mm, EtherCAT)](https://parts.trymaglev.com/img/ac-leadshine-hj2-110f101d24-nk-ec.webp)

Hollow strain-wave joint (frameless motor, harmonic gear, 24-bit encoder, drive) for cobot and humanoid arms, sold factory-direct in USD.

- Maglev ID: ac-leadshine-hj2-110f101d24-nk-ec
- Brand: Leadshine
- MPN: HJ2-110F101D24-NK-EC
- Category: actuators / Integrated Joint Actuators
- Origin: CN (maker HQ, factory not confirmed)
- Maker: Leadshine Technology (雷赛智能, Shenzhen) (brand, CN)
- NDAA: unknown · Blue UAS: unknown · FCC: n/a
- HTS: 8501.31.40.00 (typical)
- MOQ: unknown · Lead time: normally 1-2 weeks to ship after order confirmation (store)
- Confidence: VERIFIED

## Price
- 1+: $859 (list, 2026-10-30, https://store.leadshine.com/products/hj2-110f101d24-nk-ec-harmonic-integrated-actuator; official store sale price (regular $889); FOB Shenzhen, freight at checkout, duties buyer's responsibility)

## Specifications
- Peak torque: 194 N·m peak
- Rated torque: 84 N·m @2000 rpm motor speed
- Gear ratio: 101:1 strain-wave
- Voltage: 48 VDC
- Mass: 1981 g (1981.2 g)
- Interface: EtherCAT (maker lists EtherCAT/CAN/CAN-FD for the series)
- Size: Ø110 x 80.2 mm, Ø25 mm bore

## Links
- Product: https://www.leadshine.com/robot-detail/HJ2-110F101D24-NK-EC.html
- Datasheet: https://store.leadshine.com/cdn/shop/files/HJ2-110F101D24-NK-EC.pdf
- CAD: none

## Equivalents
- ZeroErr eRob110I Harmonic Rotary Actuator (100:1) (ac-zeroerr-erob110i-100)

## Sources
- https://www.leadshine.com/robot-detail/HJ2-110F101D24-NK-EC.html (maker technical data table)
- https://store.leadshine.com/products/hj2-110f101d24-nk-ec-harmonic-integrated-actuator (USD price, lead time, photos)
- https://store.leadshine.com/cdn/shop/files/HJ2-110F101D24-NK-EC.pdf (datasheet PDF (image-only, opened, no extractable text))