EYOU RHU40H-130 Harmonic Robot Joint Actuator, 120/160 Ratios, Humanoid Robots

EYOU

$1,341.00 USD

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Version RHU40H-130

Brake Without Brake With Brake

Ratio 120 160

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Overview

The EYOU RHU40H-130 is a harmonic-reducer robot joint actuator for humanoid robots and other listed robotic applications. It combines a built-in driver, 48 VDC rated operation, dual absolute encoders, and EtherCAT/CANopen communication. Select ratio 120 or 160 and either without-brake or with-brake versions. Ratio-dependent output torque, speed, power, and inertia values are provided below for selecting the appropriate configuration.

Features

Harmonic reducer with a built-in driver.
Dual absolute encoder: motor side 17 bit and reducer side 19 bit.
Power (DC in/DC out), CAN FD (In/Out), EtherCAT (In/Out), and STO (1,2) driver interfaces.
Communication protocols: EtherCAT and CANopen.
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Selectable brake options: Without Brake or With Brake.
Anodized, non-sandblasted housing and an outer-ring-blackened reducer.

Specifications

Parameter	Value
Module Model	RHU40H-130
Reducer Type	Harmonic
Motor Rated Power (W)	879
Motor Rated Torque (N·m)	3.6
Motor Peak Torque (N·m)	10.8
Reduction Ratio	120 / 160
Joint Rated Power (W) - Life Constraint	433 / 475
Rated Torque at 2000 rpm Input (N·m)	248 / 363
Average Load Torque at Output (N·m)	448 / 557
Peak Torque at Output (N·m)	648 / 800
Max Allowable External Torque at Output (Instantaneous) (N·m)	1458 / 1458
Backlash (arcsec)	≤20 / ≤20
Rated Speed at Output (rpm) - Life Constraint	17 / 12.5
Peak Speed at Output (rpm)	22 / 16.25
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial) (mm)	Φ130 × 136
Weight (kg) (B/N)	6.15 / 5.82
Hollow Diameter (mm)	22
Housing Appearance (Process Color)	Anodized (Non-sandblasted)
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (dynamic/static) Allowable Load at Output (N)	2000
Axial (dynamic/static) Allowable Load at Output (N)	2000
Output Bending Moment (N·m)	600
Reducer Torsional Stiffness (N·m/rad)	186000
Reducer Input Inertia (kg·mm²) (B)	961 / 961
Equivalent Joint Output Inertia (kg·mm²) (B)	13838400 / 24601600
Rated Operating Voltage (VDC)	48
Operating Voltage Range (VDC)	24–48
Driver	Built-in
Encoder/Bit (bit)	Dual Absolute / Motor side 17 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)
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)	>10000