ZeroErr eRob 142 T Robot Joint Actuator, EtherCAT/CANopen, 50–120 Reduction Ratios

Overview The ZeroErr eRob 142 T is a T-Type robot joint actuator family for rapid robot assembly. Select from EtherCAT or CANopen versions, with or without a torque sensor, reduction ratios of 50, 80, 100, or 120, and with or without multi-loop memory. Features 18 mm large hollow shaft for routing cables and air lines; the wiring route is stated to have no bending-life impact. Corner mounting holes and a direct-mount design. The source material states that no casing is required; this design is also stated to reduce joint weight and improve robot payload-to-weight ratio. Fully differential, anti-interference interface design with dual anti-loosening connectors that can be connected in series or parallel. Built-in dual absolute encoder and full closed-loop control. Open position-loop, speed-loop, and current-loop data with real-time PID adjustment. Real-time compensation for reducer transmission errors and backlash; the source material also describes wear-free accuracy. Power-off position memory for single-turn and multi-turn positions. Multi-loop memory is selectable; do not assume multi-turn memory for the Without Multi-loop Memory option. Friction damping brake with a friction-type brake holder. The source material states stable stopping and starting with no wobble on stop or shaking on start, full-load zero-speed starting, no wear powder during operation, no noise during rotation, and 100% full-speed heavy-load emergency stopping. IP65 rating. Applications Suitable for robot applications with dynamic variable load and variable inertia, including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, ARU robots, collaborative robots, medical robots, and automation equipment. Interfaces and Options Selectable Versions eRob 142 T (CANopen With Torque Sensor) eRob 142 T (CANopen Without Torque Sensor) eRob 142 T (EtherCAT With Torque Sensor) eRob 142 T (EtherCAT Without Torque Sensor) Selectable Reduction Ratios 50, 80, 100, or 120. Multi-loop Memory Without Multi-loop Memory or With Multi-loop Memory. Interfaces Listed in the Source Material Communication bus: EtherCAT / CANopen. Optional-device communication: EtherCAT / CANopen / Modbus. For both EtherCAT and CANopen rotary-actuator versions, the listed optional interfaces are RS485, Pulse/DIR, I/O, ±10 V analog, and STO. An external encoder interface is listed. The listed interface space is D × L = 70 × 67 mm. Specifications The following technical table retains the supplied source notation. Its column labels use “32-50” through “32-160”; selectable reduction-ratio options for this listing are 50, 80, 100, and 120. Parameter Value (32-50) Value (32-80) Value (32-100) Value (32-120) Value (32-160) Model / joint series eRob142HXXT Strain wave gear ratio 32-50 32-80 32-100 32-120 32-160 Peak torque for start/stop (Nm) 281 395 433 459 484 Permissible max. average load torque (Nm) 140 217 281 281 281 Rated torque (Nm) 99 153 178 178 178 Permissible max. momentary torque (Nm) 497 738 841 892 892 Max. output rotational speed (RPM) 40 25 20 16.7 12.5 Motor power (W) 1000 Power supply voltage (V) 48 V (±10%) Power supply note Please read carefully: “Why can't an ordinary switching power supply be used as the power supply for the module?” and “Joint Module Manual Chapter 3 eRob Input Power Instructions”. Output encoder resolution 19 Bit Repeatability / absolute accuracy (arcsec) ±10 / ±45 arcsec Communication bus EtherCAT / CANopen Outer diameter × length × through hole (mm) 148 × 163 × 18 Weight (kg) 8.22 Interface design Fully differential interface, strong anti-interference; dual anti-loosening connectors, can be connected in series/parallel. Brake Friction damping brake IP rating IP65 Common parameters ID: 18 mm, IP rating: IP65*, Brake: friction brake Optional device Communication: EtherCAT / CANopen / Modbus; Output encoder resolution: 19Bit; Repeatability/Accuracy: ±7/±15 arcsec or ±10/±25 arcsec EtherCAT version rotary actuator Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO CANopen version rotary actuator Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO Downloads EROB170I I Series EtherCAT eRob142T — 3D Model (ZIP) EROB170I I Series EtherCAT — 3D Model (ZIP) EROB142 T Series EtherCAT — 3D Model — STEP File (ZIP) EROB142 T Series CANopen — 3D Model — STEP File (ZIP) EROB142 T Series EtherCAT installation drawing1 — Installation Drawing (PDF) EROB142 T Series CANopen instalation drawing — Installation Drawing (PDF) Visual DetailsProduct VideoYour browser does not support the video tag. Product Views The product is identified as an eRob142 T-Type Robot Joint. The eRob142 T-Type Robot Joint is promoted for rapidly assembling robots. Features and Design The product has an 18 mm large hollow shaft for wiring. The hollow shaft passes cables and air lines. The product is stated to have a built-in dual absolute encoder. The product is stated to provide full closed-loop control. The product is stated to use a high-reliability friction brake. The brake is stated to use a friction-type brake holder. Interfaces and Connections The product is stated to feature EtherCAT communication. The product is stated to feature CANopen communication. Application Examples The product is presented for collaborative robot applications. The product is presented for medical robot applications.