EYOU PHU20H-90 Harmonic Drive Robot Actuator, 48 V CANopen/EtherCAT for Robotics

EYOU

$693.00 USD

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Version PHU20H-90

Brake Without Brake With Brake

Ratio 81 101 121

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Overview

The EYOU PHU20H-90 is a harmonic-drive robot actuator module with a built-in driver, 48 VDC rated operating voltage, and selectable 81, 101, or 121 reduction ratios. Brake and non-brake options are available. It supports EtherCAT and CANopen communication and is specified for robotic applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with selectable 81, 101, or 121 reduction ratios.
Built-in driver with dual absolute encoders: motor side 19-bit and reducer side 19-bit.
EtherCAT and CANopen communication protocols; CAN FD, EtherCAT, power, and STO connections are specified.
CANopen and EtherCAT protocol support can be switched through software configuration.
Split-body architecture separates the motor and reducer.
Brake and non-brake options are offered.

Specifications

Parameter	Ratio 81	Ratio 101	Ratio 121
Module model	PHU-20H-90
Reducer type	Harmonic
Motor rated power	267 W
Motor rated torque	0.85 N·m
Motor peak torque	2.55 N·m
Reduction ratio	81	101	121
Joint rated power (life constraint)	109 W	104 W	87 W
Rated torque at 2000 rpm input	42 N·m	50 N·m	50 N·m
Average load torque at output	58 N·m	61 N·m	61 N·m
Peak torque at output	91 N·m	102 N·m	108 N·m
Maximum allowable external torque at output (instantaneous)	158 N·m	182 N·m	182 N·m
Backlash	≤20 arcsec	≤20 arcsec	≤20 arcsec
Rated speed at output (life constraint)	25 rpm	20 rpm	17 rpm
Peak speed at output	38 rpm	31 rpm	25 rpm
Brake (B/N)	B/N
Dimensions (outer diameter × axial)	Φ90 × 85.8 mm
Weight (B/N)	1.74 / 1.58 kg
Hollow diameter	13 mm
Housing appearance (process color)	Black anodized (non-sandblasted)
Reducer appearance (process color)	Outer ring blackened
Radial (dynamic/static) allowable load at output	650 N
Axial (dynamic/static) allowable load at output	650 N
Output bending moment	140 N·m
Reducer torsional stiffness	23,000 N·m/rad	23,000 N·m/rad	23,000 N·m/rad
Reducer input inertia (B)	137.378 kg·mm²	137.378 kg·mm²	137.378 kg·mm²
Equivalent joint output inertia (B)	901,337 kg·mm²	1,401,393 kg·mm²	2,011,351 kg·mm²
Rated operating voltage	48 VDC
Operating voltage range	24–48 VDC
Driver	Built-in
Encoder/bit	Dual absolute; motor side 19-bit and reducer side 19-bit
Driver interface (see terminal model description)	Power (DC in, DC out), CAN FD (in, out), EtherCAT (in, out), STO (1, 2)
Communication protocol (see communication description)	EtherCAT / CANopen
Control modes	Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Operating ambient temperature	−20 to 60 °C
Housing operating temperature	≤60 °C
Noise	≤60 dB
Life	>10,000 h