ZeroErr eRob 70F Straight-Cylinder Joint Module

Overview

The ZeroErr eRob 70F is a straight-cylinder Type I joint module offered with CANopen or EtherCAT versions, brake or non-brake configurations, reduction-ratio selections, and multi-turn/torque selections.

Features

Version selections: eRob 70F (CANopen With Brake), eRob 70F (CANopen Without Brake), eRob 70F (EtherCAT With Brake), and eRob 70F (EtherCAT Without Brake).
Reduction Ratio selections: 50, 80, or 100.
Multi-turn and Torque selections: Without Multi-turn and Without Torque; Without Multi-turn and With Torque; With Multi-turn and Without Torque; or With Multi-turn and With Torque.
Communication type listed as EtherCAT / CANopen / Modbus.
Output encoder resolution: 19 Bit.
Repeatability/accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.
Optional interfaces listed for EtherCAT and CANopen rotary actuator versions: RS485, Pulse/DIR, I/O, ±10 V Analog, and STO.

Specifications

Strain wave gear-ratio	14-50 Ultra-Flat	14-80 Ultra-Flat	14-100 Ultra-Flat
Peak torque for start and stop (Nm)	12	16	19
Permissible max. value at average load torque (Nm)	4.8	7.7	7.7
Rated torque (Nm)	3.7	5.4	5.4
Permissible maximum momentary torque (Nm)	23	35	35
Max. output rotational speed (RPM)	60	37.5	30
Motor power (W)	75	75	75
Power input voltage (V)	48 V (±10%)	48 V (±10%)	48 V (±10%)
Strain wave gear output inertia (g-mm²)	54030	54030	54030
Strain wave gear output mass (kg)	0.13	0.13	0.13
Outer diameter × length	70 × 60.4 mm	70 × 60.4 mm	70 × 60.4 mm
Strain wave gear input inertia (g-mm²)	43656	43656	43656
Strain wave gear input mass (kg)	0.15	0.15	0.15
Weight (kg)	0.77	0.77	0.77
Common parameters	ID: 18 mm, IP grating: IP54*, Brake model: friction brake	ID: 18 mm, IP grating: IP54*, Brake model: friction brake	ID: 18 mm, IP grating: IP54*, Brake model: friction brake
Optional device	Communication type: EtherCAT / CANopen / Modbus; Output encoder resolution: 19 Bit; Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.	Communication type: EtherCAT / CANopen / Modbus; Output encoder resolution: 19 Bit; Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.	Communication type: EtherCAT / CANopen / Modbus; Output encoder resolution: 19 Bit; Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc seconds.
EtherCAT version rotary actuator	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO.
CANopen version rotary actuator	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO.	Optional interface: RS485, Pulse/DIR, I/O, ±10 V Analog and STO.