ZeroErr eRob 110 I Robotic Rotary Actuator

Overview

The ZeroErr eRob 110 I is a configurable robotic rotary actuator family for collaborative robots, medical robots, and automation equipment.

Configurations

Select a CANopen or EtherCAT version, with or without a brake, along with the required reduction ratio and multi-turn and torque option.

Version selections: CANopen or EtherCAT; with brake or without brake.
Reduction-ratio selections: 50, 80, 100, 120, or 160.
Multi-turn and torque selections: with or without multi-turn, and with or without torque.

Features

Core module elements include a motor-side absolute encoder, frameless torque motor, precision harmonic reducer, DC driver, and temperature sensor.

Communication capabilities include EtherCAT, CANopen, and Modbus. The module provides open position-loop, speed-loop, and current-loop data, with PID real-time adjustment and built-in dual absolute-encoder full closed-loop control.

For EtherCAT and CANopen rotary actuator versions, the documentation lists optional RS485, Pulse/DIR, I/O, ±10 V analog, external encoder, and STO interfaces.

The encoder can memorize single-turn and multi-turn power-off position, subject to the selected encoder configuration.

Brake-equipped configurations use a high-reliability friction brake. Its stated characteristics include stable stopping, zero-speed start under full load, no power during operation, noiseless rotation, and emergency stopping at 100% full-speed heavy load.

Specifications

The technical table provides the following values for its 25-50, 25-80, and 25-100 strain-wave gear-ratio columns.

Parameter	Value (Ratio 25-50)	Value (Ratio 25-80)	Value (Ratio 25-100)
Model	eRob110HXXI	eRob110HXXI	eRob110HXXI
Strain wave gear-ratio	25-50	25-80	25-100
Peak torque for start and stop(Nm)	127	178	204
Permissible max.value at average load torque(Nm)	72	113	140
Rated torque(Nm)	51	82	87
Permissible maximum momentary torque(Nm)	242	332	369
Max. output rotational speed(RPM)	60	37.5	30
Motor power(W)	723	723	723
Power Input Voltage(V)	48V (±10%) Please make sure to read "Comparison of Switching Power Supply and ePower" and the "eRob Rotary Actuator User Manual" Chapter 3, for clear instructions on powering the eRob module.	48V (±10%) Please make sure to read "Comparison of Switching Power Supply and ePower" and the "eRob Rotary Actuator User Manual" Chapter 3, for clear instructions on powering the eRob module.	48V (±10%) Please make sure to read "Comparison of Switching Power Supply and ePower" and the "eRob Rotary Actuator User Manual" Chapter 3, for clear instructions on powering the eRob module.
Strain wave gear output inertia(g-mm²)	717286	717286	717286
Strain wave gear output mass(KG)	0.56	0.56	0.56
Outer diameter*length	110*80.2mm	110*80.2mm	110*80.2mm
Strain wave gear input inertia(g-mm²)	308632	308632	308632
Strain wave gear input mass(KG)	0.53	0.53	0.53
Weight(KG)	2.57	2.57	2.57
Common parameters	ID: 18mm, IP grating:IP54*, Brake model: friction brake	ID: 18mm, IP grating:IP54*, Brake model: friction brake	ID: 18mm, IP grating:IP54*, Brake model: friction brake
Optional device	Communication type: EtherCAT / CANopen/Modbus, Output encoder resolution: 19Bit. Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.	Communication type: EtherCAT / CANopen/Modbus, Output encoder resolution: 19Bit. Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.	Communication type: EtherCAT / CANopen/Modbus, Output encoder resolution: 19Bit. Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.
EtherCAT version rotary actuator	Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.
CANopen version rotary actuator	Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.

Output absolute-encoder repeatability: up to ±7 arc seconds.
Output absolute-encoder absolute accuracy: up to ±15 arc seconds.

Version-Specific Reference

Reference materials distinguish eRob 110I V4 and V6 modules by the V4 or V6 prefix in the back-cover code line. These designations are not selectable labels in this listing, so V4/V6-specific information should not be applied to every configuration.