EYOU PHU14H-70 Harmonic Drive Robot Joint Actuator, 51/101 Ratio, CANopen/EtherCAT

EYOU

$575.00 USD

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Version PHU14H-70

Brake Without Brake With Brake

Ratio 51 101

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Overview

The EYOU PHU14H-70 is a harmonic-drive robot joint actuator module with a built-in driver, 48 VDC rated operation, and selectable 51 or 101 reduction ratios. With-brake and without-brake selections are offered. It supports EtherCAT and CANopen communication, dual absolute encoders, and position, velocity, and torque control modes for robotic-joint and automation applications.

Features

Harmonic reducer with a split-body motor-and-reducer architecture.
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), Cyclic Synchronous Velocity (CSV), etc.
Selectable brake options: With Brake or Without Brake.

Specifications

Parameter	Value
Module Model	PHU-14H-70
Reducer Type	Harmonic
Motor Rated Power (W)	105
Motor Rated Torque (N·m)	0.25
Motor Peak Torque (N·m)	0.75
Reduction Ratio	51 / 101
Joint Rated Power (W) – Life Constraint	27 / 20
Rated Torque at 2000 rpm Input (N·m)	6.6 / 9.6
Average Load Torque at Output (N·m)	8.6 / 13.5
Peak Torque at Output (N·m)	23 / 34
Max Allowable External Torque at Output (Instantaneous) (N·m)	43 / 66
Backlash (arcsec)	≤20 / ≤20
Rated Speed at Output (rpm) – Life Constraint	39 / 20
Peak Speed at Output (rpm)	90 / 45
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial) (mm)	Φ70 × 75.4
Weight (kg) (B/N)	0.89 / 0.81
Hollow Diameter (mm)	10.8
Housing Appearance (Process Color)	Black Anodized (Non-sandblasted)
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (dynamic/static) Allowable Load at Output (N)	270
Axial (dynamic/static) Allowable Load at Output (N)	270
Output Bending Moment (N·m)	41
Reducer Torsional Stiffness (N·m/rad)	4600 / 6000
Reducer Input Inertia (kg·mm²) (B)	36.733 / 36.733
Equivalent Joint Output Inertia (kg·mm²) (B)	95543 / 374713
Rated Operating Voltage (VDC)	48
Operating Voltage Range (VDC)	24–48
Driver	Built-in
Encoder/Bit (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), Cyclic Synchronous Velocity (CSV), etc.
Operating Ambient Temperature (°C)	-20 to 60
Housing Operating Temperature (°C)	≤60
Noise (dB)	≤60
Life (h)	>10000