EYOU PHA11H-101-C Harmonic-Drive Robotic Joint Actuator, 101 Reduction, CANopen, Humanoid Robots

EYOU

$991.00 USD

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Version PHA11H-101-C

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Overview

The EYOU PHA11H-101-C is a harmonic-drive robotic joint actuator with a 101 reduction ratio, built-in driver, and CANopen communication. It operates from 24–48 VDC and uses dual absolute 16-bit encoders on the motor and reducer sides. Its 52 × 55.5 mm form factor, 0.375 kg weight, and 6 mm hollow diameter support integration into humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with a 101 reduction ratio.
Built-in driver with CANFD input/output and CANopen communication.
Dual absolute encoders: 16-bit motor side and 16-bit reducer side.
Supports Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), and other control modes.
Matte black anodized housing and blackened reducer outer ring.

Specifications

Parameter	Value
Module Model	PHA11
Reducer Type	Harmonic
Motor Rated Power	37.7 W
Motor Rated Torque	0.12 N·m
Motor Peak Torque	0.36 N·m
Reduction Ratio	101
Joint Rated Power — Life Constraint	10 W
Rated Torque at 2000 rpm Input	5 N·m
Average Load Torque at Output	8.9 N·m
Peak Torque at Output	11 N·m
Max. Allowable External Torque at Output (Instantaneous)	25 N·m
Backlash	≤30 arcsec
Rated Speed at Output — Life Constraint	20 rpm
Peak Speed at Output	36 rpm
Brake (B/N)	N
Dimensions (Outer Diameter × Axial)	Φ52 × 55.5 mm
Weight	0.375 kg
Hollow Diameter	6 mm
Housing Appearance (Process Color)	Matte Black Anodized
Reducer Appearance (Process Color)	Outer Ring Blackened
Radial (Dynamic/Static) Allowable Load at Output	130 N
Axial (Dynamic/Static) Allowable Load at Output	130 N
Output Bending Moment	16 N·m
Reducer Torsional Stiffness	2430 N·m/rad
Reducer Input Inertia	11 kg·mm²
Equivalent Joint Output Inertia	112211 kg·mm²
Rated Operating Voltage	48 VDC
Operating Voltage Range	24–48 VDC
Driver	Built-in
Encoder/Bit	Dual Absolute / Motor side 16-bit & Reducer side 16-bit
Driver Interface (see terminal model description)	Power (DC in, DC out), CANFD (In, Out)
Communication Protocol (see communication description)	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 Temperature Rise	≤60 °C
Noise	≤60 dB
Life	>8000 h