Ti5 CRA-RI50-70-PRO-XX Integrated Robot Joint – Harmonic Gear, Hollow Shaft, 24–48V 150W, 17-bit Encoder, CAN/EtherCAT

Overview

The Ti5 Robot CRA-RI50-70-PRO-XX is a compact, hollow-shaft integrated robot joint that combines a precision harmonic reducer, frameless torque motor, FOC drive, and absolute encoder in one module. With an 80 mm outer diameter, 10 mm thru-hole, 150 W power, and 24–48 V supply, it delivers up to 34 N·m peak (ratio-dependent) with near-zero backlash and low noise. Communication is selectable between CAN and EtherCAT; single or dual encoders and an electromagnetic brake variant (-B) are available. This joint is designed for cobots, mobile manipulators, pan-tilt gimbals, industrial equipment, power-inspection robots, and marine platforms.

Key Features

• All-in-one joint: harmonic reducer + BLDC torque motor + FOC driver + absolute encoder in a sealed compact body.

• Hollow shaft: 10 mm central pass-through for cables/air lines.

• High-accuracy feedback: 17-bit absolute encoder, power-off multi-turn memory; single/dual-encoder options.

• Low backlash output: harmonic stage with ~10–20 arc-sec backlash (per ratio).

• Quiet & smooth: large-pole-count torque motor for low-speed stability and low acoustic noise.

• Interface options: CAN or EtherCAT bus; optional holding brake (model suffix -B).

• Customizable: waterproofing/low-temperature versions available from factory.

Models & Options

• CRA-RI50-70-PRO-XX — standard, no brake (≈ 60 ± 0.5 mm length, ≈0.65 kg, inertia ≈ 124 g·cm²)

• CRA-RI50-70-PRO-XX-B — with brake (length ≈81.7 ± 0.5 mm)

• Bus: CAN or EtherCAT

• Encoder: Single or Dual encoder

Rated Performance by Gear Ratio

Notes: Output speed/torque figures are at the reducer output. Lower backlash spec applies to the 101:1 variant.

Electrical & Motor Data

• Power: 150 W

• Supply voltage: 24–48 VDC

• Max continuous current: 5 A | Rated current: 3.6 A | Phase resistance: 0.47 Ω

• Torque constant: 0.089 N·m/A | Inductance: 0.215 mH | Pole pairs: 10

• Encoder resolution: 17-bit absolute (power-off memory)

• Field-oriented control (FOC) integrated

Mechanical Interface

• Outer diameter: Ø80 mm

• Bolt circle: Ø64 mm (front flange)

• Through-hole: Ø10 mm

• Overall length: 60 ± 0.5 mm (standard) / 81.7 ± 0.5 mm (-B with brake)

• Mass: ~0.65 kg (standard)

• Inertia (rotor): ~124 g·cm² (standard)

• Front face provides multiple M3 fasteners; detailed hole pattern per mechanical drawing.

Connectivity

• Bus: CAN or EtherCAT

• Variants: Single-encoder / Dual-encoder

• Brake option: -B models include an integrated holding brake.

Typical Applications

• Collaborative and desktop robotic arms, service robots

• Pan-tilt gimbals and camera systems

• Mobile manipulation and power-inspection UGVs

• Industrial automation modules and marine equipment

What’s Included

• CRA-RI50-70-PRO-XX integrated joint (selected ratio & options)

• Mating connectors & basic screws (per kit)

• Mechanical drawing & pinout (digital)

Ordering Code (example)

CRA-RI50-70-PRO-XX-(B, T, 2E, IPXX)

• XX: gear ratio (51/81/101)

• B: with brake (blank = no brake)

• T/2E: single/dual encoder options

• IPXX: optional waterproof rating (on request)

Details

CRA-RI50-70-PRO-XX robotic joint specifications: 150W motor, 24-48V, CAN bus, 51-101 gear ratios, peak torque up to 34N.m, 60±0.5mm length, 0.65kg weight, 124g·cm² inertia.

Robotic joint with 51, 81, or 101 gear ratios, 150W power, 24–48V supply, CAN communication, 17 RPM encoder resolution, 81.7±0.5mm length, and 0.8kg weight.