ZeroErr eRob 90 T Robot Joint Motor, 48 V EtherCAT/CANopen, 50/80/100 Ratios

ZeroErr

$2,327.00 USD

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Version eRob 90 T (CANopen With Torque Sensor) eRob 90 T (CANopen Without Torque Sensor) eRob 90 T (EtherCAT With Torque Sensor) eRob 90 T (EtherCAT Without Torque Sensor)

Reduction Ratio 50 80 100

Multi-loop Memory Without Multi-loop Memory With Multi-loop Memory

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Overview

The ZeroErr eRob 90 T robot joint motor is offered in CANopen or EtherCAT versions, each selectable with or without a torque sensor. Select a 50, 80, or 100 reduction ratio and a version with or without multi-loop memory.

Features

18 mm hollow shaft / through hole for cable and air-line routing.
Corner mounting holes and direct-mounting design; no casing is stated as required.
Friction damping brake; the common-parameter entry also lists a friction brake.
Fully differential interface with strong anti-interference capability and dual anti-loosening connectors for series or parallel connection.
IP65 rating; the common-parameter entry lists IP65*.
Hollow-shaft routing is stated to have no bending-life impact and to help reduce joint weight and improve payload-to-weight ratio.

Specifications

Selectable configurations

Selection	Available choices
Version	eRob 90 T (CANopen With Torque Sensor); eRob 90 T (CANopen Without Torque Sensor); eRob 90 T (EtherCAT With Torque Sensor); eRob 90 T (EtherCAT Without Torque Sensor)
Reduction ratio	50; 80; 100
Multi-loop memory	Without Multi-loop Memory; With Multi-loop Memory

Technical parameters

The source technical table identifies the model / joint series as eRob90HXXT and uses the following strain wave gear ratio columns.

Parameter	20-50	20-80	20-100	20-120
Model / joint series	eRob90HXXT
Strain wave gear ratio	20-50	20-80	20-100	20-120
Peak torque for start/stop (Nm)	73	96	107	113
Permissible max. average load torque (Nm)	44	61	64	64
Rated torque (Nm)	33	44	52	52
Permissible max. momentary torque (Nm)	127	165	191	191
Max. output rotational speed (RPM)	60	37.5	30	25
Motor power (W)	300
Power supply voltage (V)	48 V (±10%)
Power supply note	Please read carefully: “Why can't an ordinary switching power supply be used as the power supply for the module?” and “Joint Module Manual Chapter 3 eRob Input Power Instructions”.
Output encoder resolution	19 Bit
Repeatability / absolute accuracy (arcsec)	±10 / ±45 arcsec
Communication bus	EtherCAT / CANopen
Outer diameter × length × through hole (mm)	96 × 123.8 × 18
Weight (kg)	2.6
Interface design	Fully differential interface, strong anti-interference; dual anti-loosening connectors, can be connected in series/parallel.
Brake	Friction damping brake
IP rating	IP65
Strain wave gear input inertia (g·mm²)	147025
Strain wave gear input mass (kg)	2.6
Common parameters	ID: 18 mm, IP rating: IP65*, Brake: friction brake
Optional device	Communication: EtherCAT / CANopen / Modbus; Output encoder resolution: 19 Bit; Repeatability/Accuracy: ±7/±15 arcsec or ±10/±25 arcsec
EtherCAT version rotary actuator	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO
CANopen version rotary actuator	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO

Downloads

EROB170I I Series EtherCAT eRob90T — 3D Model (ZIP)

EROB170I I Series EtherCAT — 3D Model (ZIP)

EROB90 T Series EtherCAT — 3D Model — STEP File (ZIP)

EROB90 T Series CANopen — 3D Model — STEP File (ZIP)

EROB90 T Series EtherCAT instalation drawing — Installation Drawing (PDF)

EROB90 T Series CANopen instalation drawing — Installation Drawing (PDF)

Applications

Application scenarios listed for this joint include humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, ARU robots, collaborative robots, medical robots, and automation equipment.