ZeroErr eRob 142 I 1,000 W Robot Joint Actuator

Overview

The ZeroErr eRob 142 I is an integrated eRob142 Type I Robot Joint actuator. It is available in EtherCAT or CANopen versions, with or without a friction brake, reduction-ratio selections of 50, 80, 100, 120, or 160, and selectable multi-turn and torque configurations.

The shared actuator specification lists a 1,000 W motor, 48 V input voltage (±10%), a 142 mm outer diameter, 133.9 mm length, and an 18 mm hollow bore. The diameter-to-length ratio is greater than 1: D/L = 1.06.

Features

Integrated Assembly

The compact assembly is labeled as containing eight core components: a motor-side absolute encoder, frameless torque motor, precision harmonic reducer, DC driver, temperature sensor, and configuration-dependent components. The With Multi-turn option includes an output-side multi-turn absolute encoder; the With Brake option includes a friction brake holder; and the With Torque option includes a torque sensor.

Control and Encoder Functions

The actuator is described with a built-in dual absolute encoder, full closed-loop control, and power-off position memorization for single-turn and multi-turn positions. The encoder section is stated to provide wear-free accuracy and real-time compensation for reducer transmission errors and backlash.

Open position-loop, speed-loop, and current-loop data are provided with real-time PID adjustment. Output encoder resolution is 19 bit. Listed repeatability/accuracy alternatives are ±7/±15 arcseconds or ±10/±25 arcseconds.

Communications and Interfaces

Listed communication types are EtherCAT, CANopen, and Modbus. EtherCAT and CANopen rotary-actuator versions list optional RS485, Pulse/DIR, I/O, ±10 V analog, and STO interfaces. The connector information also lists an external encoder interface and a D × L = 70 × 67 mm interface space.

Brake Option

The With Brake option uses a friction-type brake holder. Its stated characteristics include no wobble on stop, no shaking on start, full-load zero-speed start, no wear powder during operation, no noise during rotation, and the ability to withstand a 100% full-speed heavy-load emergency stop.

Specifications

Parameter	32-50	32-80	32-100	32-120	32-160
Model	eRob142HXXI
Strain wave gear ratio	32-50	32-80	32-100	32-120	32-160
Peak torque for start and stop (Nm)	281	395	433	459	484
Permissible maximum value at average load torque (Nm)	140	217	281	281	281
Rated torque (Nm)	99	153	178	178	178
Permissible maximum momentary torque (Nm)	497	738	841	892	892
Maximum output rotational speed (RPM)	40	25	20	16.7	12.5
Motor power (W)	1000
Power input voltage (V)	48 V (±10%)
Strain wave gear output inertia (g-mm²)	2589596
Strain wave gear output mass (kg)	1.21
Outer diameter × length	142 × 133.9 mm
Strain wave gear input inertia (g-mm²)	1244894
Strain wave gear input mass (kg)	1.33
Weight (kg)	6.49
Common parameters	ID: 18 mm; IP grating: IP54*; brake model: friction brake
Optional device	Communication type: EtherCAT / CANopen / Modbus; output encoder resolution: 19 bit; repeatability/accuracy: ±7/±15 arcseconds or ±10/±25 arcseconds.
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.

The dimensional graphic separately states a weight of 6.7 kg and maximum permissible torque up to 892 Nm.

Applications

The eRob 142 I is presented for humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, ARU robots, collaborative robots, medical robots, and automation equipment. It is also stated to suit robot applications with dynamic variable loads and variable inertia.