EYOU PHU40H-170 48 V Harmonic Robot Joint Actuator, 81/101/121/161 Ratios for Robotics

EYOU

$1,593.00 USD

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Version PHU40H-170

Brake Without Brake Brake

Ratio 81 101 121 161

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Overview

The EYOU PHU40H-170 is a harmonic-reducer robot joint actuator with a built-in driver for robotic and industrial automation systems. It operates at 48 VDC nominal (24–48 VDC range) and offers 81, 101, 121, or 161 reduction-ratio selections, plus brake or without-brake options. CANopen and EtherCAT communications, dual absolute encoding, and multiple position, velocity, and torque control modes support system integration.

Features

Harmonic reducer design with a split-body motor and reducer architecture.
Built-in driver with dual absolute encoders: 17-bit motor-side and 19-bit reducer-side.
CANopen and EtherCAT communication protocols; protocol selection is software-configurable.
Power, CAN FD, EtherCAT, and STO interfaces.
Brake and without-brake selections are available.
The PHU series supports modular brake and force-control function modules for robot-platform adaptation and system integration.

Specifications

Model and Common Specifications

Parameter	Value
Module Model	PHU-40H-170
Reducer Type	Harmonic
Motor Rated Power	905 W
Motor Rated Torque	3.6 N·m
Motor Peak Torque	14.4 N·m
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial)	Φ170 × 149 mm
Weight (B/N)	9.34 / 8.70 kg
Hollow Diameter	23 mm
Housing Appearance (Process Color)	Black anodized (non-sandblasted)
Reducer Appearance (Process Color)	Outer ring blackened
Radial (Dynamic/Static) Allowable Load at Output	2000 N
Axial (Dynamic/Static) Allowable Load at Output	2000 N
Output Bending Moment	600 N·m
Rated Operating Voltage	48 VDC
Operating Voltage Range	24–48 VDC
Driver	Built-in
Encoder/Bit	Dual absolute / motor side 17 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	-20–60 °C
Housing Temperature Rise	≤80 °C
Noise	≤60 dB
Life	>10,000 h

Ratio-Specific Specifications

Parameter	81 Ratio	101 Ratio	121 Ratio	161 Ratio
Joint Rated Power — Life Constraint	659 W	664 W	554 W	416 W
Rated Torque at 2000 rpm Input	255 N·m	320 N·m	320 N·m	320 N·m
Average Load Torque at Output	351 N·m	460 N·m	557 N·m	557 N·m
Peak Torque at Output	641 N·m	702 N·m	762 N·m	800 N·m
Max. Allowable External Torque at Output (Instantaneous)	1210 N·m	1334 N·m	1458 N·m	1458 N·m
Backlash	≤20 arcsec	≤20 arcsec	≤20 arcsec	≤20 arcsec
Rated Speed at Output — Life Constraint	25 rpm	20 rpm	17 rpm	12 rpm
Peak Speed at Output	30 rpm	24 rpm	20 rpm	15 rpm
Reducer Torsional Stiffness	1876.452 N·m/rad	1876.452 N·m/rad	1876.452 N·m/rad	1876.452 N·m/rad
Reducer Input Inertia (B)	1876.452 kg·mm²	1876.452 kg·mm²	1876.452 kg·mm²	1876.452 kg·mm²
Equivalent Joint Output Inertia (B)	12311402 kg·mm²	19141687 kg·mm²	27473134 kg·mm²	48639512 kg·mm²

Applications

Suitable for humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, ARU robots, industrial automation, and collaborative robotic arms.