Ti5 Robot CRA-RI40-52-PRO-XX Integrated Robot Joint Actuator, Harmonic Drive, 7 N·m, 24–48 V, CAN/EtherCAT, IP65, Hollow-shaft, Single/Dual Encoder (Brake Option)

Overview

The Ti5 Robot CRA-RI40-52-PRO-XX is a compact, integrated joint module combining a frameless torque motor, precision harmonic reducer, servo driver and magnetic encoder in one IP65 unit. With 24–48 V DC supply and 90 W rated power, it delivers 7 N·m rated torque and 80 rpm rated output speed for humanoid robots, exoskeletons, collaborative arms, gimbals, AGVs and other high-end applications. A central pass-through hole supports cable routing; single- or dual-encoder configurations and a holding-brake option are available. Communication is CAN by default, with EtherCAT selectable.

Key Features

• Integrated motor + drive + harmonic reducer + encoder (magnetic)

• Rated torque 7 N·m; rated output speed 80 rpm; 90 W power

• Two reduction ratios: 51:1 or 101:1

• High precision: 17-bit encoder, typical backlash 40 arcsec (51) / 30 arcsec (101)

• Low noise, low cogging; high torque density design

• IP65 protection; optional low-temperature & waterproof customization

• Communication bus: CAN (standard) or EtherCAT (optional)

• Single-/dual-encoder options; brake or non-brake versions

• Through-hole for wiring: 12 mm (standard) / 11 mm (brake)

• Typical applications: humanoids, cobot joints, exoskeletons, pan-tilts, industrial equipment, power-inspection robots, marine/vehicle systems

Performance by Gear Ratio

Electrical Specifications

• Supply voltage: 24–48 V DC

• Rated/continuous current: 2 A (max continuous 3 A)

• Phase resistance: 1.96 Ω

• Inductance: 0.788 mH

• Torque constant: 0.05 N·m/A

• Pole pairs: 7

• Encoder resolution: 17-bit (magnetic)

Mechanical & Interface

• Protection grade: IP65

• Rated output speed: 80 rpm

• Communication: CAN (default) / EtherCAT (option)

• Pass-through hole (for wiring): Ø12 mm (standard) / Ø11 mm (with brake)

• Length & inertia (no-brake): 60.3 ± 0.5 mm, 82 g·cm²

• Length & inertia (-B brake version): 76.1 ± 0.5 mm, 127 g·cm²

• Mass: 0.3 kg

• Cable length: 5 m

• Operating ambient (typical): up to 60 °C

• Materials: aluminum components with precision harmonic reducer

Variants & Options

• Communication: CAN or EtherCAT

• Encoder: single or dual magnetic encoder

• Brake: non-brake (standard) or -B holding-brake version

• Environment: customizable waterproofing and low-temperature package

• Series notation: CRA-PIXX-XX-(PRO)-XX-(B, T, 2E, IPXX) (indicates reducer, torque sensor/encoder count, ratio, protection, etc.)

Typical Applications

Humanoid joints (shoulder/elbow/hip/knee), collaborative robot arms, exoskeleton actuators, pan-tilt/vision gimbals, industrial automation axes, power-inspection UGVs/AGVs, and marine/vehicle auxiliary mechanisms.

Notes

• Install using the specified screw patterns and tolerances shown in the drawings.

• Confirm ratio, encoder configuration, communication bus, and brake requirement before ordering.

• Due to the industrial nature of this product, units installed/used are typically non-returnable; consult sizing docs with technical staff prior to purchase.

Details

Ti5 Robot Joint Actuator CRA-R140-52-PRO-XX and -B offer 90W power, 24–48V supply, 3A max current, 17 RPM encoder resolution, torque, speed, and CAN communication.

Ti5 Robot Joint Actuator model CRA-PIXX-XX-(PRO)-XX-(B, T, 2E, IPXX) includes brake, torque sensor, dual encoders, waterproof rating, reduction ratio, outer diameter, and motor type.

PRO series joint actuators for humanoid robots, exoskeletons, collaborative robots, automobiles, AGVs. Features: high robustness, long life, high torque density, low cogging torque, waterproof, dustproof, explosion-proof, low noise, high precision, hollow shaft design.