ZeroErr eRob 80 I Robot Joint Actuator Motor

Overview

The ZeroErr eRob 80 I is a robot joint actuator motor available in CANopen and EtherCAT versions, with selectable brake, reduction-ratio, and multi-turn/torque configurations.

Features

CANopen and EtherCAT version selections.
Brake-equipped and without-brake version selections; the listed brake model is a friction brake.
Selectable reduction ratios of 50, 80, 100, and 120.
Selectable multi-turn and torque configurations.
Optional-device communication types listed as EtherCAT, CANopen, and Modbus.
Output encoder resolution: 19 Bit.
For both EtherCAT and CANopen rotary-actuator versions, optional interfaces are RS485, Pulse/DIR, I/O, ±10 V analog, and STO.

Specifications

Configuration Options

Selection	Available values
Version	eRob 80 I (CANopen With Brake); eRob 80 I (CANopen Without Brake); eRob 80 I (EtherCAT With Brake); eRob 80 I (EtherCAT Without Brake)
Reduction Ratio	50; 80; 100; 120
Multi-turn and Torque	Without Multi-turn and Without Torque; Without Multi-turn and With Torque; With Multi-turn and Without Torque; With Multi-turn and With Torque

Strain Wave Gear-Ratio Performance

Parameter	17-50	17-80	17-100	17-120
Peak torque for start and stop (Nm)	44	56	70	70
Permissible max. value at average load torque (Nm)	34	35	51	51
Rated torque (Nm)	21	29	31	31
Permissible maximum momentary torque (Nm)	91	113	143	112
Max. output rotational speed (RPM)	60	37.5	30	25
Motor power (W)	126
Power input voltage (V)	48 V (±10%)
Strain wave gear output inertia (g·mm²)	143080
Strain wave gear output mass (kg)	0.227
Outer diameter × length	80 × 64.2 mm
Strain wave gear input inertia (g·mm²)	41815
Strain wave gear input mass (kg)	0.148
Weight (kg)	1.03
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 arc seconds or ±10/±25 arc seconds.
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.