EYOU PHU17H-80 Harmonic Drive Robot Actuator, 51/101 Ratio, CANopen/EtherCAT Robotics

EYOU

$617.00 USD

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Version PHU17H-80

Brake Without Brake With Brake

Ratio 51 101

Quantity

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Overview

The EYOU PHU17H-80 is a harmonic-drive robot actuator with an integrated driver, 48 VDC rated operation, and selectable 51 or 101 reduction ratios. Choose a version with or without a brake to suit the required configuration. The actuator supports EtherCAT and CANopen communication and is specified for robot applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with selectable 51 or 101 reduction ratio.
Brake selection: With Brake or Without Brake.
Built-in driver with dual absolute encoders: motor side 19-bit and reducer side 19-bit.
EtherCAT and CANopen communication protocols; protocol selection is switchable through software configuration.
Interfaces: power (DC in/DC out), CAN FD (In/Out), EtherCAT (In/Out), and STO (1/2).
Control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
PHU-series split-body design separates the motor and reducer. PHU-series information also states that reducers with different ratios can be paired with the same motor for different speed and torque profiles.

Specifications

Parameter	Value
Module model	PHU-17H-80
Reducer type	Harmonic
Motor rated power	251 W
Motor rated torque	0.6 N·m
Motor peak torque	1.8 N·m
Reduction ratio	51 / 101
Joint rated power — life constraint	81 / 62 W
Rated torque at 2000 rpm input	19.8 / 30 N·m
Average load torque at output	32 / 49 N·m
Peak torque at output	42 / 66 N·m
Maximum allowable external torque at output (instantaneous)	86 / 134 N·m
Backlash	≤20 / ≤20 arcsec
Rated speed at output — life constraint	39 / 20 rpm
Peak speed at output	88 / 44 rpm
Brake (B/N)	B/N
Dimensions (outer diameter × axial)	Φ80 × 78 mm
Weight (B/N)	1.25 / 1.14 kg
Hollow diameter	10.8 mm
Housing appearance (process color)	Black anodized (non-sandblasted)
Reducer appearance (process color)	Outer ring blackened
Radial (dynamic/static) allowable load at output	400 N
Axial (dynamic/static) allowable load at output	400 N
Output bending moment	72 N·m
Reducer torsional stiffness	10,700 / 13,000 N·m/rad
Reducer input inertia (B)	85.734 / 85.734 kg·mm²
Equivalent joint output inertia (B)	222,994 / 874,573 kg·mm²
Rated operating voltage	48 VDC
Operating voltage range	24–48 VDC
Driver	Built-in
Encoder/bit	Dual absolute / motor side 19-bit & 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	-20–60 °C
Housing operating temperature	≤60 °C
Noise	≤60 dB
Life	>10,000 h