Ti5 Robot CRA-RI100-120-PRO-S-XX Integrated Robot Joint Actuator, 1000W, 24–48V, up to 459 N·m Peak, 51–161:1, CAN/EtherCAT, IP65

Overview

The Ti5 Robot CRA-RI100-120-PRO-S-XX is a compact, integrated robot joint actuator that combines a frameless torque motor, ultrathin harmonic reducer, FOC drive, and a magnetic absolute encoder in one module. Designed for medium-to-large joints on collaborative and mobile robots, cloud-pan/tilt heads, industrial equipment, inspection robots, and marine devices, it delivers up to 459 N·m peak torque with a 1000 W power stage and 24–48 V supply. The module offers 51–161:1 reduction options, IP65 ingress protection, and field bus control via CAN (default) with EtherCAT optional. A factory brake version (-B) is available.

Key Features

• Integrated joint: harmonic reducer + BLDC torque motor + FOC driver + 17-bit magnetic absolute encoder

• Reduction ratios: 51 / 81 / 101 / 121 / 161:1

• High output: up to 169 N·m rated and 459 N·m peak (ratio-dependent)

• 1000 W drive, 24–48 V wide-range input, IP65 protection

• Communication: CAN (default), EtherCAT configurable

• Precise positioning: ≤20–10 arcsec backlash (ratio-dependent)

• Through-hole** Ø32 mm** for cable routing/end-effector wiring

• Choice of standard (-S) or with brake (-B) versions

Specifications — Electrical & General

• Supply voltage: 24–48 VDC (rated 24 V)

• Rated/Max continuous current: 15.8 A / 16.9 A

• Phase resistance: 0.12 Ω; inductance: 0.3 mH

• Torque constant: 0.175 N·m/A

• Encoder: 17-bit single-turn magnetic absolute

• Communication bus: CAN (default), EtherCAT optional

• Ingress protection: IP65

• Through-hole: Ø32 mm

• Typical cable length: 5 m

Performance by Ratio (-S and -B share the same torque/speed ratings)

Nominal power stage: 1000 W.

Mechanical — Dimensions & Mass

Front flange PCDs and hole patterns follow the RI100/120 family drawings; a Ø32 mm center through-hole is provided for routing. Exact mounting pattern see drawing.

Applications

• Collaborative robot arms and heavy-duty joints (elbow/shoulder/base)

• Pan-tilt-zoom/cloud platforms and stabilized heads

• Industrial automation modules and special machinery

• Power grid inspection UGVs/AMRs, maritime equipment and winch drives

Ordering Guide

• Model: CRA-RI100-120-PRO-S-XX (select ratio: 51/81/101/121/161)

• Bus: CAN (default) or EtherCAT

• Encoder: 17-bit magnetic absolute (standard)

• Brake: add “-B” for the holding-brake version

Notes

• Industrial-grade component; verify ratio, interface, and dimensions before purchase.

• Due to application-specific configuration, installed/used units are typically non-returnable; consult technical support to confirm selection.