Ti5 Robot CRA-RI30-40-PRO-XX Robot Joint Module, Hollow-Shaft Torque Motor + Harmonic Gear, Dual Encoder, CANopen/EtherCAT

Overview

Ti5 Robot CRA-RI30-40-PRO-XX is an integrated robotic joint module that combines a frameless torque motor and a harmonic reducer in a compact hollow-shaft package. It supports single or dual encoders, CAN/CANopen and EtherCAT communication, and offers an optional holding brake. Designed for high torque density and neat cable routing through a 5 mm center bore, it suits collaborative arms, mobile manipulators, and small industrial robots.

Key Features

• Motor + harmonic gear reducer integrated, hollow-shaft design

• Communication: CAN, CANopen, and EtherCAT (selectable)

• Single or dual encoder versions; encoder resolution: 17-bit

• Optional brake; customization and waterproof/low-temperature options available

• High torque density with low backlash (40 arcsec)

Performance (per gear ratio)

Electrical

• Motor power: 36 W

• Supply voltage: 24–48 V

• Max continuous current: 2 A

• Rated current: 1 A

• Phase resistance: 2.08 Ω

• Torque constant: 0.024 N·m/A

• Inductance: 0.409 mH

• Pole pairs: 7

Mechanical

• Through-hole (hollow shaft): Ø5 mm

• Encoder resolution: 17-bit (single/dual encoder options)

• CRA-RI30-40-PRO-XX (short): length 55.3 ± 0.5 mm, weight 0.18 kg, rotor inertia 24 g·cm²

• CRA-RI30-40-PRO-XX-B (long): length 72.3 ± 0.5 mm, weight 0.23 kg, rotor inertia 45 g·cm²

Interfaces & Options

• Buses: CAN / CANopen / EtherCAT

• Encoder: single or dual

• Brake: with / without (optional)

• Custom versions available; waterproof and low-temperature configurations offered.

Typical Applications

Compact robot arms and grippers, collaborative robots, service robots, inspection manipulators, and education/DIY robotic joints requiring hollow-shaft routing, precise positioning, and high torque density.

Details

CRA-RI30-40-PRO-XX and CRA-RI30-40-PRO-XX-B robot joint modules offer high performance with CAN communication, featuring gear ratios, torque, speed, power, and compact dimensions, differing slightly in length and weight.

CRA-RI30-40-PRO Ti5 PRO Lightweight Joint Motor, high torque, low noise, 40mm diameter

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Motor parts including rear cover, control board, encoder, stator housing, rotor, and harmonic reducer.

The product is ultra-compact, measuring just 40mm and weighing only 0.16kg.

Ti5 Robot Joint Module for humanoid robots, exoskeletons, collaborative robots, automotive parts, and AGVs.

Ti5 Robot Joint Module specifications include various models with reduction ratios, peak torque, max allowable load torque, rated torque at 2000rpm, and rated speed. Models range from CRA-RI30-40-PRO to CRA-RI110-170-PRO, featuring increasing performance metrics.

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