Ti5 Robot CRA-RI100-142-PRO-XX Integrated Joint Actuator, 1 kW, 24–48 V, up to 169 N·m, IP65, CAN/EtherCAT, 51–161:1, optional brake

Overview

The Ti5 Robot CRA-RI100-142-PRO-XX is a compact integrated joint actuator that combines a permanent-magnet servo motor, precision reducer, encoder, and sealed housing. It is part of the PRO series designed for humanoids, exoskeletons, cobots, AGVs and industrial mechanisms, featuring high torque density, low noise, and IP65 protection. The controller interface is selectable (CAN or EtherCAT), feedback can be single- or dual-encoder, and a holding brake is available as an option. A 32 mm hollow shaft simplifies cable or pneumatic routing through the joint.

Key Features

• Up to 169 N·m rated torque (ratio-dependent) with smooth, low-cogging output

• Sealed IP65 housing for dust- and water-resistant operation

• 24–48 V DC, 1 kW class PMSM with high efficiency

• CAN or EtherCAT fieldbus; single/dual incremental encoder (17-bit)

• Optional holding brake (-B) for safe positioning and power-off holding

• Hollow-shaft output (Ø32 mm); through-cabling friendly

• Long life & high reliability; low noise, high precision

• Pre-wired harness (5 m) for quick integration

Specifications

Electrical & General

• Model: CRA-RI100-142-PRO-XX (-B = with brake)

• Motor type: Permanent-magnet synchronous

• Rated power: 1000 W

• Supply voltage: 24–48 V DC

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

• Phase resistance: 0.12 Ω | Inductance: 0.3 mH

• Pole pairs: 8 | Torque constant: 0.175 N·m/A

• Encoder: Incremental, 17-bit, single or dual

• Bus: CAN (EtherCAT selectable)

• Protection: IP65

• Rotation range: 60°

• Through-hole: Ø32 mm

• Operating ambient: up to 60 °C

• Cable length: 5 m

Mechanical envelope

• Without brake: Length 95.7 ± 0.5 mm, mass 3.8 kg, rotor inertia 3601 g·cm²

• With brake (-B): Length 115.7 ± 0.5 mm, mass 4.5 kg, rotor inertia 4237 g·cm²

Note: “100-142” in the model name denotes the nominal outer-diameter class and axial length series.

Performance by Reduction Ratio — Without Brake

Performance by Reduction Ratio — With Brake (-B)

Torque and speed ratings are identical to the non-brake version; dimensions/weight/inertia differ (see above).

Applications

• Humanoid robots: shoulder/hip/knee/ankle joints requiring sealed, high-torque actuation

• Collaborative robots (cobots): smooth, low-noise motion with encoder redundancy

• Exoskeletons & rehab devices: compact, high-torque joints with power-off holding (-B)

• Gimbals & pan-tilt units: precise positioning with low backlash

• AGVs & special machinery: rugged IP65 joints for dusty or damp sites

• Automotive & marine mechanisms: sealed actuation for auxiliary motion systems

Details

CRA-RI100-142-PRO-XX actuator specifications: 51-161 gear ratios, 267-459 N.m peak torque, 1000W motor, 24-48V supply, CAN bus, 3.8kg weight, 3601 g·cm² inertia, 17 RPM encoder resolution.

CRA-RI100-142-PRO-XX-B actuator specifications: 1000W motor, 24-48V, 15.8A rated current, 17 RPM encoder resolution, CAN bus, 4.5kg weight, 115.7mm length, multiple gear ratios with torque and speed data.