EYOU PHU25H-110-F Harmonic Drive Robot Joint Actuator, 80/100/120 Ratios for Robotics

EYOU

$949.00 USD

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Version PHU25H-110-F

Brake Without Brake With Brake

Ratio 80 100 120

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Overview

The EYOU PHU25H-110-F is a harmonic-drive robot joint actuator with selectable 80, 100, or 120 reduction ratios and with-brake or without-brake options. It combines a 586 W motor, built-in driver, dual absolute encoders, torque sensing, and EtherCAT/CANopen communication. Ratio selection changes the specified output torque, speed, power, and equivalent output inertia values for robotics and automation applications.

Features

Harmonic reducer with selectable 80, 100, or 120 reduction ratio.
Brake options: With Brake or Without Brake.
Built-in driver and dual absolute encoders: motor-side 19-bit and reducer-side 19-bit.
Power (DC in/DC out), CAN FD (In/Out), EtherCAT (In/Out), and STO (1, 2) interfaces.
EtherCAT and CANopen communication protocols.
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Force Control (CSF), etc.
Torque sensor with 220 N·m range, ≤±0.5% F.S accuracy, 0.1% F.S resolution, 300% F.S overload limit, and 8 kHz digital sampling frequency.

Specifications

Parameter	Value
Module Model	PHU-25H-110-F
Reducer Type	Harmonic
Motor Rated Power (W)	586
Motor Rated Torque (N·m)	1.6
Motor Peak Torque (N·m)	4.8
Reduction Ratio	80 / 100 / 120
Joint Rated Power (W) — Life Constraint	204 / 176 / 147
Rated Torque at 2000 rpm Input (N·m)	78 / 84 / 84
Average Load Torque at Output (N·m)	107 / 133 / 133
Peak Torque at Output (N·m)	169 / 194 / 207
Max Allowable External Torque at Output (Instantaneous) (N·m)	315 / 351 / 376
Backlash (arcsec)	≤20 / ≤20 / ≤20
Rated Speed at Output (rpm) — Life Constraint	25 / 20 / 17
Peak Speed at Output (rpm)	44 / 36 / 30
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial) (mm)	Φ110 × 106
Weight (kg) (B/N)	2.97 / 2.78
Hollow Diameter (mm)	13
Housing Appearance (Process Color)	Black Anodized (Non-sandblasted)
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (dynamic/static) Allowable Load at Output (N)	900
Axial (dynamic/static) Allowable Load at Output (N)	900
Output Bending Moment (N·m)	243
Reducer Torsional Stiffness (N·m/rad)	46000 / 46000 / 46000
Reducer Input Inertia (kg·mm²) (B)	251.975 / 251.975 / 251.975
Equivalent Joint Output Inertia (kg·mm²) (B)	1612640 / 2519750 / 3628440
Torque Sensor Range (N·m)	220
Torque Sensor Accuracy (% F.S)	≤±0.5
Torque Sensor Resolution (% F.S)	0.1
Torque Sensor Overload Limit (% F.S)	300
Torque Sensor Sampling Frequency (kHz) — Digital	8
Torque Closed-loop Bandwidth (Hz)	30
Impedance Control Frequency (kHz)	1
Rated Operating Voltage (VDC)	48
Operating Voltage Range (VDC)	24–48
Driver	Built-in
Encoder/Bit (bit)	Dual Absolute / Motor side 19Bit & Reducer side 19Bit
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), Force Control (CSF), etc.
Operating Ambient Temperature (°C)	-10–60
Housing Operating Temperature (°C)	≤60
Noise (dB)	≤60
Life (h)	>10000