EYOU PHA14H-101-C Harmonic Drive Robot Joint Actuator, 101:1 CANopen for Robotics

EYOU

$1,093.00 USD

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Version PHA14H-101-C

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Overview

The EYOU PHA14H-101-C is a harmonic-drive robot joint actuator with a 101 reduction ratio, built-in driver, CANopen communication, and dual absolute 16-bit encoders. Designed for robotic joints, it provides 9.6 N·m rated torque at 2000 rpm input, 34 N·m peak output torque, and output speeds up to 33 rpm. The selected version is non-braked (N).

Features

Built-in driver with power (DC in/DC out) and CAN FD (in/out) interfaces.
CANopen communication protocol.
Dual absolute encoders: motor side 16-bit and reducer side 16-bit.
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Harmonic reducer with a 101 reduction ratio.
Non-braked configuration (B/N: N).
Matte black anodized housing and blackened outer reducer ring.

Specifications

Parameter	Value
Module Model	PHA14
Reducer Type	Harmonic
Motor Rated Power	105 W
Motor Rated Torque	0.25 N·m
Motor Peak Torque	0.5 N·m
Reduction Ratio	101
Joint Rated Power - Life Constraint	20 W
Rated Torque at 2000 rpm Input	9.6 N·m
Average Load Torque at Output	13.5 N·m
Peak Torque at Output	34 N·m
Max Allowable External Torque at Output (Instantaneous)	66 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)	Φ70 × 61.5 mm
Weight	0.645 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	270 N
Axial (dynamic/static) Allowable Load at Output	270 N
Output Bending Moment	41 N·m
Reducer Torsional Stiffness	6000 N·m/rad
Reducer Input Inertia	27 kg·mm²
Equivalent Joint Output Inertia	276651 kg·mm²
Rated Operating Voltage	48 VDC
Operating Voltage Range	24–48 VDC
Driver	Built-in
Encoder/Bit	Dual Absolute / Motor side 16-bit & Reducer side 16-bit
Driver Interface (see terminal model description)	Power (DC in/DC out), CAN FD (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