EYOU PHU32H-142 Harmonic Robot Joint Actuator, 81/101/121/161 Ratios, Brake Options for Robotics

EYOU

$1,165.00 USD

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Version PHU32H-142

Brake Without Brake With Brake

Ratio 81 101 121 161

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Overview

The EYOU PHU32H-142 is a harmonic robot joint actuator with a built-in driver, 48 VDC rated operating voltage, and EtherCAT or CANopen communication. Select reduction ratios of 81, 101, 121, or 161 to match the required output speed and torque profile, and choose with-brake or without-brake configurations. It is specified for robotics and industrial automation applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with a built-in driver.
Selectable reduction ratios: 81, 101, 121, or 161.
Brake selections: With Brake or Without Brake.
Dual absolute encoder: motor side 17 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).
PHU series information describes a split-body design that separates the motor and reducer, allowing different reducer ratios to be paired with the same motor for different speed and torque profiles.
PHU series information also describes optional force-control function modules; availability of those modules is not established by the PHU32H-142 selections.

Specifications

Shared Specifications

Parameter	Value
Module model	PHU-32H-142
Reducer type	Harmonic
Motor rated power	603 W
Motor rated torque	2.4 N·m
Motor peak torque	9.6 N·m
Backlash	≤20 arcsec for ratios 81 / 101 / 121 / 161
Brake (B/N)	B/N
Dimensions (outer diameter × axial)	Φ142 × 144 mm
Weight (B/N)	6.31 / 5.83 kg
Hollow diameter	22 mm
Housing appearance (process color)	Black anodized
Reducer appearance (process color)	Outer ring blackened
Radial (dynamic/static) allowable load at output	1350 N
Axial (dynamic/static) allowable load at output	1350 N
Output bending moment	460 N·m
Reducer torsional stiffness	99000 / 99000 / 99000 / 99000 N·m/rad for ratios 81 / 101 / 121 / 161
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	≤60 °C
Noise	≤60 dB
Life	>10000 h

Ratio-Specific Performance

Parameter	Ratio 81	Ratio 101	Ratio 121	Ratio 161
Joint rated power — life constraint	377 W	350 W	293 W	220 W
Rated torque at 2000 rpm input	146 N·m	169 N·m	169 N·m	169 N·m
Average load torque at output	206 N·m	267 N·m	267 N·m	267 N·m
Peak torque at output	376 N·m	411 N·m	436 N·m	459 N·m
Max. allowable external torque at output (instantaneous)	702 N·m	800 N·m	848 N·m	848 N·m
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 input inertia (B)	1171.326 kg·mm²	1171.326 kg·mm²	1171.326 kg·mm²	1171.526 kg·mm²
Equivalent joint output inertia (B)	7685070 kg·mm²	11948697 kg·mm²	17149384 kg·mm²	30361941 kg·mm²