EYOU PHU25H-110 Harmonic Drive Robot Joint Actuator, 48 VDC EtherCAT/CANopen for Robotics

EYOU

$773.00 USD

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Version PHU25H-110

Brake Without Brake With Brake

Ratio 81 101 121

Quantity

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Overview

The EYOU PHU25H-110 is a harmonic-drive robot joint actuator with a built-in driver, 48 VDC rated operating voltage, and EtherCAT/CANopen communication. Selectable reduction ratios of 81, 101, and 121 provide distinct output speed, torque, and inertia values. Brake and non-brake selections are available for robotics applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with a built-in driver.
48 VDC rated operating voltage; 24–48 VDC operating voltage range.
Dual absolute encoders: motor side 19-bit and reducer side 19-bit.
Power (DC in/DC out), CAN FD (in/out), EtherCAT (in/out), and STO (1, 2) driver interfaces.
EtherCAT and CANopen communication protocols, with software-configurable protocol selection.
Supported control modes: Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Split-body architecture separating the motor and reducer; the PHU series is described as offering optional force-control function modules.
Select either With Brake or Without Brake; the specification table identifies brake configuration values as B/N.

Applications

Humanoid robots
Robotic arms
Exoskeletons
Quadruped robots
AGV vehicles
ARU robots
Industrial automation and heavy-duty robot applications
Collaborative robotic arms

Specifications

Parameter	81 ratio	101 ratio	121 ratio
Module Model	PHU-25H-110
Reducer Type	Harmonic
Motor Rated Power (W)	586
Motor Rated Torque (N·m)	1.6
Motor Peak Torque (N·m)	4.8
Reduction Ratio	81	101	121
Joint Rated Power (W) - Life Constraint	202	174	145
Rated Torque at 2000 rpm Input (N·m)	78	84	84
Average Load Torque at Output (N·m)	107	133	133
Peak Torque at Output (N·m)	169	194	207
Max Allowable External Torque at Output (Instantaneous) (N·m)	315	351	376
Backlash (arcsec)	≤20	≤20	≤20
Rated Speed at Output (rpm) - Life Constraint	25	20	17
Peak Speed at Output (rpm)	44	36	30
Brake (B/N)	B/N
Dimensions (Outer Diameter × Axial) (mm)	Φ110 × 94
Weight (kg) (B/N)	2.54 / 2.35
Hollow Diameter (mm)	13
Housing Appearance (Process Color)	Black anodized (non-sandblasted)
Reducer Appearance (Process Color)	Outer ring blackened
Radial (dynamic/static) Allowable Load at Output (N)	900
Axial (dynamic/static) Allowable Load at Output (N)	900
Output Bending Moment (N·m)	243
Reducer Torsional Stiffness (N·m/rad)	46000	46000	46000
Reducer Input Inertia (kg·mm²) (B)	251.975	251.975	251.975
Equivalent Joint Output Inertia (kg·mm²) (B)	1653208	2570397	3689166
Rated Operating Voltage (VDC)	48
Operating Voltage Range (VDC)	24–48
Driver	Built-in
Encoder/Bit (bit)	Dual Absolute / Motor side 19Bit & Reducer side 19Bit
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 (°C)	-20–60
Housing Operating Temperature (°C)	≤60
Noise (dB)	≤60
Life (h)	>10000