EYOU PHA17H-101-C Harmonic Drive Robot Joint Motor, 101 Reduction Ratio, CANopen Robotics

EYOU

$1,199.00 USD

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Version PHA17H-101-C

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Overview

The EYOU PHA17H-101-C is a harmonic-reducer robot joint motor with an integrated driver, 101 reduction ratio, CANopen communication, and CANFD in/out interface. It operates from 24–48 VDC and is specified for robotics applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots. Its output ratings, Φ80 × 68 mm form factor, and 10.8 mm hollow diameter support joint-level selection.

Features

Built-in driver with power (DC in/DC out) and CANFD (in/out) interfaces.
Dual absolute encoder: motor side 16Bit and reducer side 16Bit.
CANopen communication protocol.
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Connector end includes two yellow connectors and two smaller white ports.

Specifications

Parameter	Value
Module Model	PHA17
Reducer Type	Harmonic
Motor Rated Power	188 W
Motor Rated Torque	0.45 N·m
Motor Peak Torque	1.35 N·m
Reduction Ratio	101
Joint Rated Power - Life Constraint	63 W
Rated Torque at 2000 rpm Input	30 N·m
Average Load Torque at Output	49 N·m
Peak Torque at Output	66 N·m
Max Allowable External Torque at Output (Instantaneous)	134 N·m
Backlash	≤20 Arcsec
Rated Speed at Output - Life Constraint	20 rpm
Peak Speed at Output	33 rpm
Brake (B/N)	N
Dimensions (Outer Diameter × Axial)	Φ80 × 68 mm
Weight	0.9 kg
Hollow Diameter	10.8 mm
Housing Appearance (Process Color)	Matte Black Anodized
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (dynamic/static) Allowable Load at Output	400 N
Axial (dynamic/static) Allowable Load at Output	400 N
Output Bending Moment	72 N·m
Reducer Torsional Stiffness	13000 N·m/rad
Reducer Input Inertia	49 kg·mm²
Equivalent Joint Output Inertia	502909 kg·mm²
Rated Operating Voltage	48 VDC
Operating Voltage Range	24–48 VDC
Driver	Built-in
Encoder/Bit	Dual Absolute / Motor side 16Bit & Reducer side 16Bit
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	>10000 h