EYOU PHU11L-52 Harmonic Drive Robot Actuator, 51/101 Ratios, for Robotics

EYOU

$679.00 USD

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Version PHU11L-52

Brake Without Brake With Brake

Ratio 51 101

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Overview

The EYOU PHU11L-52 is a harmonic-drive robot actuator with a built-in driver, 48 VDC rated operating voltage, and selectable 51 or 101 reduction ratios. Brake options are available as With Brake or Without Brake. It supports EtherCAT and CANopen communication and is specified for robotics applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with a 46 W motor rated power.
Built-in driver and dual absolute encoder: motor side 19 bit and reducer side 19 bit.
EtherCAT and CANopen communication protocols; software configuration can switch between the two protocols.
Selectable reduction ratios of 51 or 101, providing different speed and torque profiles.
Brake selection: With Brake or Without Brake.
Black anodized, non-sandblasted housing and outer-ring-blackened reducer.

Specifications

Parameter	Value
Module Model	PHU-11L-52
Reducer Type	Harmonic
Motor Rated Power (W)	46
Motor Rated Torque (N·m)	0.11
Motor Peak Torque (N·m)	0.33
Reduction Ratio	51 / 101
Joint Rated Power (W) – Life Constraint	10 / 6
Rated Torque at 2000 rpm Input (N·m)	2.4 / 3
Average Load Torque at Output (N·m)	3.5 / 5.5
Peak Torque at Output (N·m)	5.8 / 6.5
Max Allowable External Torque at Output (Instantaneous) (N·m)	11.5 / 15
Backlash (arcsec)	≤30 / ≤30
Rated Speed at Output (rpm) – Life Constraint	39 / 20
Peak Speed at Output (rpm)	100 / 50
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial) (mm)	Φ52 × 65
Weight (kg) (B/N)	0.39 / 0.35
Hollow Diameter (mm)	8
Housing Appearance (Process Color)	Black Anodized (Non-sandblasted)
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (dynamic/static) Allowable Load at Output (N)	130
Axial (dynamic/static) Allowable Load at Output (N)	130
Output Bending Moment (N·m)	16
Reducer Torsional Stiffness (N·m/rad)	2250 / 2430
Reducer Input Inertia (kg·mm²) (B)	11.236 / 11.236
Equivalent Joint Output Inertia (kg·mm²) (B)	29225 / 114618
Rated Operating Voltage (VDC)	48
Operating Voltage Range (VDC)	24–48
Driver	Built-in
Encoder/Bit (bit)	Dual Absolute / Motor side 19 bit & Reducer side 19 bit
Driver Interface (see terminal model description)	Power (DC in, DC out), CAN FD (In, Out), EtherCAT (In, Out), STO (1, 2) (only for OD ≥60)
Communication Protocol (see communication description)	EtherCAT / CANopen
Control Modes	Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Operating Ambient Temperature (°C)	-20–60
Housing Temperature Rise (°C)	≤60
Noise (dB)	≤60
Life (h)	>8000