ZeroErr eRob 90 I Robot Joint Motor | EtherCAT/CANopen

Overview

The ZeroErr eRob 90 I robot joint motor is offered in CANopen and EtherCAT versions, with or without a brake, for robot-joint configurations and rapid robot assembly.

Features and Configuration

Communication versions: CANopen or EtherCAT.
Brake configurations: with brake or without brake. The listed brake model is a friction brake.
Reduction-ratio selections: 50, 80, 100, and 120.
Multi-turn and torque selections: Without Multi-turn and Without Torque; Without Multi-turn and With Torque; With Multi-turn and Without Torque; With Multi-turn and With Torque.
Specified power input voltage: 48 V (±10%).
Specified hollow bore diameter: 18 mm.
Specified installation methods: Same, Compatible.

Specifications

Strain Wave Gear Ratio

Strain wave gear-ratio	20-50	20-80	20-100	20-120
Peak torque for start and stop (Nm)	73	96	107	113
Permissible max. value at average load torque (Nm)	44	61	64	64
Rated torque (Nm)	33	44	52	52
Permissible maximum momentary torque (Nm)	127	165	191	191
Max. output rotational speed (RPM)	60	37.5	30	25
Power input voltage (V)	48 V (±10%)
Hollow bore diameter	18 mm
Precision	Repeatability/Absolute Accuracy: ±7/±15 arc sec or ±10/±25 arc sec*
Electrical interface	Communication Protocol: EtherCAT/CANopen/Modbus; Output-side Encoder Resolution: 19/20 Bit
Installation methods	Same, Compatible

V3/V6 Comparison

Version	V3	V6
Motor power (W)	300	314
SWG output-side inertia (g-mm2)	297466	273391
SWG output-side mass (kg)	0.36	0.321
SWG input-side inertia (g·mm²), without brake	139067	95791
SWG input-side mass (kg), without brake	0.41	0.257
OD × length (mm), without brake	Φ90 × 98.9	Φ90 × 75.9
Total mass (kg), without brake	1.75	1.506
SWG input-side inertia (g·mm²), with brake	147025	110213
SWG input-side mass (kg), with brake	0.43	0.292
OD × length (mm), with brake	Φ90 × 98.9	Φ90 × 75.9
Total mass (kg), with brake	1.87	1.639
Diameter-to-length ratio	D/L = 0.91 (less than 1)	—
Common parameters	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.