EYOU PHA08L-101-C Harmonic Drive Motor, 101:1 CANopen Robot Joint Actuator

EYOU

$891.00 USD

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Version PHA08L-101-C

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Overview

The EYOU PHA08L-101-C is a harmonic-reducer motor module for robotic joint applications. The listed version has a 101:1 reduction ratio, built-in driver, CANopen communication, and dual absolute encoders with 16-bit motor-side and reducer-side resolution. It is rated for 24 VDC operation within a 24–36 VDC range and provides a 1.65 N·m rated output torque at 2000 rpm input.

Features

Harmonic reducer with 101:1 reduction ratio.
Built-in driver with CANFD input/output and power DC input/DC output interfaces.
Dual absolute encoders: 16-bit motor side and 16-bit reducer side.
Supports Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), and other control modes.
Matte black anodized housing and outer-ring-blackened reducer finish.

Specifications

Parameter	Value
Module Model	PHA08
Reducer Type	Harmonic
Motor Rated Power	17 W
Motor Rated Torque	0.04 N·m
Motor Peak Torque	0.12 N·m
Reduction Ratio	101
Joint Rated Power – Life Constraint	3 W
Rated Torque at 2000 rpm Input	1.65 N·m
Average Load Torque at Output	2.3 N·m
Peak Torque at Output	3.3 N·m
Max. Allowable External Torque at Output (Instantaneous)	6.3 N·m
Backlash	≤40 arcsec
Rated Speed at Output – Life Constraint	20 rpm
Peak Speed at Output	36 rpm
Brake (B/N)	N
Dimensions (Outer Diameter × Axial)	Φ43 × 48.3 mm
Weight	0.207 kg
Hollow Diameter	4.4 mm
Housing Appearance (Process Color)	Matte Black Anodized
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (Dynamic/Static) Allowable Load at Output	100 N
Axial (Dynamic/Static) Allowable Load at Output	100 N
Output Bending Moment	13.5 N·m
Reducer Torsional Stiffness	800 N·m/rad
Reducer Input Inertia	2 kg·mm²
Equivalent Joint Output Inertia	20402 kg·mm²
Rated Operating Voltage	24 VDC
Operating Voltage Range	24–36 VDC
Driver	Built-in
Encoder/Bit	Dual Absolute / Motor side 16-bit & Reducer side 16-bit
Driver Interface (see terminal model description)	Power (DC in, DC out), CANFD (In, Out)
Communication Protocol (see communication description)	CANopen
Control Modes	Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Operating Ambient Temperature	-20–60 °C
Housing Temperature Rise	≤60 °C
Noise	≤60 dB
Life	>8000 h