ZeroErr eRob 90 T Robot Joint Motor, 48 V EtherCAT/CANopen, 50/80/100 Ratios

OverviewThe ZeroErr eRob 90 T robot joint motor is offered in CANopen or EtherCAT versions, each selectable with or without a torque sensor. Select a 50, 80, or 100 reduction ratio and a version with or without multi-loop memory.Features 18 mm hollow shaft / through hole for cable and air-line routing. Corner mounting holes and direct-mounting design; no casing is stated as required. Friction damping brake; the common-parameter entry also lists a friction brake. Fully differential interface with strong anti-interference capability and dual anti-loosening connectors for series or parallel connection. IP65 rating; the common-parameter entry lists IP65*. Hollow-shaft routing is stated to have no bending-life impact and to help reduce joint weight and improve payload-to-weight ratio. SpecificationsSelectable configurations Selection Available choices Version eRob 90 T (CANopen With Torque Sensor); eRob 90 T (CANopen Without Torque Sensor); eRob 90 T (EtherCAT With Torque Sensor); eRob 90 T (EtherCAT Without Torque Sensor) Reduction ratio 50; 80; 100 Multi-loop memory Without Multi-loop Memory; With Multi-loop Memory Technical parametersThe source technical table identifies the model / joint series as eRob90HXXT and uses the following strain wave gear ratio columns. Parameter 20-50 20-80 20-100 20-120 Model / joint series eRob90HXXT Strain wave gear ratio 20-50 20-80 20-100 20-120 Peak torque for start/stop (Nm) 73 96 107 113 Permissible max. average load torque (Nm) 44 61 64 64 Rated torque (Nm) 33 44 52 52 Permissible max. momentary torque (Nm) 127 165 191 191 Max. output rotational speed (RPM) 60 37.5 30 25 Motor power (W) 300 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) 96 × 123.8 × 18 Weight (kg) 2.6 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 Strain wave gear input inertia (g·mm²) 147025 Strain wave gear input mass (kg) 2.6 Common parameters ID: 18 mm, IP rating: IP65*, Brake: friction brake Optional device Communication: EtherCAT / CANopen / Modbus; Output encoder resolution: 19 Bit; 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 DownloadsEROB170I I Series EtherCAT eRob90T — 3D Model (ZIP)EROB170I I Series EtherCAT — 3D Model (ZIP)EROB90 T Series EtherCAT — 3D Model — STEP File (ZIP)EROB90 T Series CANopen — 3D Model — STEP File (ZIP)EROB90 T Series EtherCAT instalation drawing — Installation Drawing (PDF)EROB90 T Series CANopen instalation drawing — Installation Drawing (PDF)ApplicationsApplication scenarios listed for this joint include humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, ARU robots, collaborative robots, medical robots, and automation equipment. Visual DetailsProduct VideoYour browser does not support the video tag. Product Views The eRob90 T-Type is identified as a robot joint. The eRob90 T-Type is promoted for rapidly assembling robots. Features and Design The robot joint has an 18 mm large hollow shaft for wiring. The hollow shaft passes cables and air lines. The assembly includes a motor-side absolute encoder. The assembly includes an output-side multi-turn absolute encoder. Interfaces and Connections The product is stated to feature EtherCAT communication. The product is stated to feature CANopen communication. Specifications and Performance The encoder section is identified as a built-in dual absolute encoder for full closed-loop control. Repeatability is stated as up to ±7 arcseconds. Application Examples The product is presented for collaborative robot applications. The product is presented for medical robot applications. Application fields listed are collaborative robots, medical robots, and automation equipment.