ZeroErr eRob 170 I Robot Joint Actuator, CANopen/EtherCAT

Overview

The ZeroErr eRob 170 I is an eRob170 Type I robot-joint actuator family offered with CANopen or EtherCAT communication, brake or no-brake versions, reduction ratios of 50, 80, 100, 120, or 160, and selectable multi-turn and torque configurations.

Its integrated robot-joint design is intended to simplify robot assembly by reducing the need to select, design, purchase, and assemble numerous separate mechanical and electronic components.

Published family specifications list a 1,000 W motor, 48 V input (±10%), a 170 × 144.9 mm outer diameter × length, an 18 mm thru-hole, and a 9.29 kg weight. The published diameter-to-length ratio is greater than 1 (D/L = 1.17).

Features

CANopen and EtherCAT versions are selectable.
With-brake and without-brake versions are selectable; the published brake model is a friction brake.
Multi-turn and torque selections are available in the listed combinations.
Published output encoder resolution: 19 bit.
Published encoder repeatability/accuracy options: ±7/±15 arcseconds or ±10/±25 arcseconds.

Specifications

Reduction-ratio-dependent values

Parameter	50 (source notation: 40-50)	80 (source notation: 40-80)	100 (source notation: 40-100)	120 (source notation: 40-120)	160 (source notation: 40-160)
Peak torque for start and stop (Nm)	402	519	568	617	647
Permissible maximum value at average load torque (Nm)	196	284	372	451	451
Rated torque (Nm)	137	206	265	294	294
Permissible maximum momentary torque (Nm)	686	980	1080	1180	1180
Maximum output rotational speed (RPM)	40	25	20	16.7	12.5

Common published parameters

Model	eRob170HXXI
Motor power	1000 W
Power input voltage	48 V (±10%)
Strain wave gear output inertia	6679752 g-mm²
Strain wave gear output mass	2.02 kg
Outer diameter × length	170 × 144.9 mm
Diameter-to-length ratio	Greater than 1; D/L = 1.17
Thru-hole / ID	18 mm
Strain wave gear input inertia	1517148 g-mm²
Strain wave gear input mass	1.66 kg
Weight	9.29 kg
Common parameters	IP grating: IP54*; brake model: friction brake.
Optional device	Communication type: EtherCAT / CANopen / Modbus; output encoder resolution: 19 bit; repeatability/accuracy: ±7/±15 arcseconds or ±10/±25 arcseconds.
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.

Configuration Options

Version: eRob 170 I (CANopen With Brake), eRob 170 I (CANopen Without Brake), eRob 170 I (EtherCAT With Brake), or eRob 170 I (EtherCAT Without Brake).
Reduction ratio: 50, 80, 100, 120, or 160.
Multi-turn and torque: Without Multi-turn and Without Torque; Without Multi-turn and With Torque; With Multi-turn and Without Torque; or With Multi-turn and With Torque.