EYOU PHU20H-90-F Harmonic Robot Actuator, 80/100/120 Ratios for Robotics

EYOU

$863.00 USD

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Version PHU20H-90-F

Brake Without Brake With Brake

Ratio 80 100 120

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Overview

The EYOU PHU20H-90-F is a harmonic-reducer robot actuator module with selectable 80, 100, or 120 reduction ratios and with-brake or without-brake options. Its built-in driver supports EtherCAT and CANopen communication, while a 48 VDC rated supply and dual 19-bit absolute encoders support integration into robotic joint systems. Supported application scenarios include humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with a split-body arrangement separating the motor and reducer.
Selectable reduction ratios of 80, 100, and 120; the selected ratio changes the listed output torque, speed, and equivalent output inertia values.
Available with brake or without brake.
Built-in driver with dual absolute encoders: motor side 19-bit and reducer side 19-bit.
Communication protocols: EtherCAT and CANopen.
Driver interfaces: power (DC in/DC out), CAN FD (In/Out), EtherCAT (In/Out), and STO (1, 2).
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Force Control (CSF), etc.

Specifications

Shared Specifications

Parameter	Value
Module Model	PHU-20H-90-F
Reducer Type	Harmonic
Motor Rated Power	267 W
Motor Rated Torque	0.85 N·m
Motor Peak Torque	2.55 N·m
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial)	Φ90 × 94 mm
Weight (B/N)	1.9 / 1.74 kg
Hollow Diameter	13 mm
Housing Appearance (Process Color)	Black anodized (non-sandblasted)
Reducer Appearance (Process Color)	Outer ring blackened
Radial (dynamic/static) Allowable Load at Output	650 N
Axial (dynamic/static) Allowable Load at Output	650 N
Output Bending Moment	140 N·m
Torque Sensor Range	110 N·m
Torque Sensor Accuracy	≤±0.5 %F.S
Torque Sensor Resolution	0.1 %F.S
Torque Sensor Overload Limit	300 %F.S
Torque Sensor Sampling Frequency (Digital)	8 kHz
Torque Closed-loop Bandwidth	30 Hz
Impedance Control Frequency	1 kHz
Rated Operating Voltage	48 VDC
Operating Voltage Range	24–48 VDC
Driver	Built-in
Encoder/Bit	Dual absolute / motor side 19-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), Force Control (CSF), etc.
Operating Ambient Temperature	-10–60 °C
Housing Operating Temperature	≤60 °C
Noise	≤60 dB
Life	>10,000 h

Ratio-Specific Specifications

Parameter	Ratio 80	Ratio 100	Ratio 120
Reduction Ratio	80	100	120
Joint Rated Power — Life Constraint	110 W	105 W	87 W
Rated Torque at 2000 rpm Input	42 N·m	50 N·m	50 N·m
Average Load Torque at Output	58 N·m	61 N·m	61 N·m
Peak Torque at Output	91 N·m	102 N·m	108 N·m
Max Allowable External Torque at Output (Instantaneous)	158 N·m	182 N·m	182 N·m
Backlash	≤20 arcsec	≤20 arcsec	≤20 arcsec
Rated Speed at Output — Life Constraint	25 rpm	20 rpm	17 rpm
Peak Speed at Output	38 rpm	31 rpm	25 rpm
Reducer Torsional Stiffness	23,000 N·m/rad	23,000 N·m/rad	23,000 N·m/rad
Reducer Input Inertia (B)	137.378 kg·mm²	137.378 kg·mm²	137.378 kg·mm²
Equivalent Joint Output Inertia (B)	879,219 kg·mm²	1,373,780 kg·mm²	1,978,243 kg·mm²