ZeroErr eRob 142 T Robot Joint Actuator

Overview

The ZeroErr eRob 142 T is a T-Type robot joint actuator family for rapid robot assembly. Select from EtherCAT or CANopen versions, with or without a torque sensor, reduction ratios of 50, 80, 100, or 120, and with or without multi-loop memory.

Features

18 mm large hollow shaft for routing cables and air lines; the wiring route is stated to have no bending-life impact.
Corner mounting holes and a direct-mount design. The source material states that no casing is required; this design is also stated to reduce joint weight and improve robot payload-to-weight ratio.
Fully differential, anti-interference interface design with dual anti-loosening connectors that can be connected in series or parallel.
Built-in dual absolute encoder and full closed-loop control.
Open position-loop, speed-loop, and current-loop data with real-time PID adjustment.
Real-time compensation for reducer transmission errors and backlash; the source material also describes wear-free accuracy.
Power-off position memory for single-turn and multi-turn positions. Multi-loop memory is selectable; do not assume multi-turn memory for the Without Multi-loop Memory option.
Friction damping brake with a friction-type brake holder. The source material states stable stopping and starting with no wobble on stop or shaking on start, full-load zero-speed starting, no wear powder during operation, no noise during rotation, and 100% full-speed heavy-load emergency stopping.
IP65 rating.

Applications

Suitable for robot applications with dynamic variable load and variable inertia, including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, ARU robots, collaborative robots, medical robots, and automation equipment.

Interfaces and Options

Selectable Versions

eRob 142 T (CANopen With Torque Sensor)
eRob 142 T (CANopen Without Torque Sensor)
eRob 142 T (EtherCAT With Torque Sensor)
eRob 142 T (EtherCAT Without Torque Sensor)

Selectable Reduction Ratios

50, 80, 100, or 120.

Multi-loop Memory

Without Multi-loop Memory or With Multi-loop Memory.

Interfaces Listed in the Source Material

Communication bus: EtherCAT / CANopen.
Optional-device communication: EtherCAT / CANopen / Modbus.
For both EtherCAT and CANopen rotary-actuator versions, the listed optional interfaces are RS485, Pulse/DIR, I/O, ±10 V analog, and STO.
An external encoder interface is listed.
The listed interface space is D × L = 70 × 67 mm.

Specifications

The following technical table retains the supplied source notation. Its column labels use “32-50” through “32-160”; selectable reduction-ratio options for this listing are 50, 80, 100, and 120.

Parameter	Value (32-50)	Value (32-80)	Value (32-100)	Value (32-120)	Value (32-160)
Model / joint series	eRob142HXXT
Strain wave gear ratio	32-50	32-80	32-100	32-120	32-160
Peak torque for start/stop (Nm)	281	395	433	459	484
Permissible max. average load torque (Nm)	140	217	281	281	281
Rated torque (Nm)	99	153	178	178	178
Permissible max. momentary torque (Nm)	497	738	841	892	892
Max. output rotational speed (RPM)	40	25	20	16.7	12.5
Motor power (W)	1000
Power supply voltage (V)	48 V (±10%)
Power supply note	Please read carefully: “Why can't an ordinary switching power supply be used as the power supply for the module?” and “Joint Module Manual Chapter 3 eRob Input Power Instructions”.
Output encoder resolution	19 Bit
Repeatability / absolute accuracy (arcsec)	±10 / ±45 arcsec
Communication bus	EtherCAT / CANopen
Outer diameter × length × through hole (mm)	148 × 163 × 18
Weight (kg)	8.22
Interface design	Fully differential interface, strong anti-interference; dual anti-loosening connectors, can be connected in series/parallel.
Brake	Friction damping brake
IP rating	IP65
Common parameters	ID: 18 mm, IP rating: IP65*, Brake: friction brake
Optional device	Communication: EtherCAT / CANopen / Modbus; Output encoder resolution: 19Bit; Repeatability/Accuracy: ±7/±15 arcsec or ±10/±25 arcsec
EtherCAT version rotary actuator	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