Ti5 Robot CRA-RI80-97-PRO-S-XX Integrated Robot Joint Actuator, 84 N·m, Harmonic, Hollow Shaft, IP65, CAN/EtherCAT, 24–48 V

Overview

The Ti5 Robot CRA-RI80-97-PRO-S-XX is an integrated joint actuator that combines a frameless torque motor, harmonic reducer, servo drive and magnetic encoder(s) in one compact, hollow-shaft module. Designed for humanoids and collaborative manipulators, it delivers high torque density, fast response and sealed IP65 protection for reliable operation in labs and field robots. The PRO-S series supports CAN or EtherCAT networking, single or dual encoders, and an optional holding brake. With supply voltage from 24–48 V and a 750 W motor, the RI80-97 achieves up to 217 N·m peak torque depending on ratio while maintaining low backlash (as low as 10 arcsec). A 27 mm through-hole simplifies cable routing for end-effectors, sensors and pneumatics, enabling clean, serviceable arm and leg assemblies.

Key Features

• All-in-one joint module: motor + harmonic gearbox + servo drive + encoder(s).

• Hollow shaft design: 27 mm through-hole for power, signals and hoses.

• High torque density: up to 217 N·m peak, 84 N·m rated (at 2000 rpm/motor ÷ ratio).

• Low backlash harmonic stage: 10–20 arcsec depending on ratio.

• Sealed & robust: IP65 dust/water protection; compact 97 mm class housing.

• Flexible I/O: CAN or EtherCAT bus; single or dual magnetic encoders (17-bit).

• Brake option: delivered with or without holding brake.

• Wide DC input: 24–48 V, integrated drive, quick system integration.

Specifications

• Model / Series: CRA-RI80-97-PRO-S-XX (PRO-S); variant -B available (longer, heavier).

• Gear ratios available: 51 / 81 / 101 / 121 / 161.

• Peak torque (N·m): 121 / 169 / 194 / 207 / 217.

• Max allowable average load torque (N·m): 68.5 / 107 / 133 / 133 / 133.

• Rated torque at 2000 rpm÷ratio (N·m): 48 / 78 / 84 / 84 / 84.

• Peak output speed (rpm): 65 / 43 / 36 / 30 / 22.

• Rated speed @ ½ rated torque (rpm): 54 / 35 / 27 / 23 / 17.

• Backlash: 20 arcsec (51, 81) ; 10 arcsec (≥101).

• Motor power: 750 W.

• Supply voltage: 24–48 V DC.

• Max continuous current / Rated current: 10.4 A / 9 A.

• Phase resistance / inductance: 0.13 Ω / 0.25 mH.

• Torque constant: 0.143 N·m/A.

• Pole pairs: 8.

• Encoder: magnetic, 17-bit; single or dual.

• Bus: CAN or EtherCAT.

• Protection: IP65.

• Hollow-shaft through-bore: Ø27 mm.

• Length / Mass (PRO-S): 82.4 ± 0.5 mm / 2.1 kg; Inertia: 1255 g·cm².

• Length / Mass (-B): 102.4 ± 0.5 mm / 2.6 kg; Inertia: 1484 g·cm².

• Options: holding brake; CAN/EtherCAT; single/dual encoder.

Notes: All values are taken from the product images. Performance depends on ratio, supply and thermal conditions.

Applications

• Humanoid robots: shoulder, elbow, hip, knee and ankle joints.

• Collaborative/industrial arms: high-stiffness rotary joints with internal routing.

• Exoskeletons & wearable robotics: compact, sealed, high torque-to-weight joints.

• Mobile/manipulation platforms & UAV payload gimbals: precise, low-backlash actuation in harsh environments.

Details

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CRA-RI80-97-PRO-S-XX-B Ti5 Robot Joint Actuator offers multiple gear ratios, torque options, CAN communication, and detailed specs on dimensions, electrical parameters, and performance for robotics use. (39 words)