ZeroErr eRob 70 I Robot Joint Motor | EtherCAT/CANopen

Overview

The ZeroErr eRob 70 I is an integrated robot joint motor family with selectable EtherCAT or CANopen versions, with-brake or without-brake configurations, reduction ratios of 50, 80, 100, or 120, and selectable multi-turn and torque combinations.

All listed ratio configurations use a 100 W motor, 48 V input (±10%), and an 18 mm hollow bore. Refer to the ratio and version tables below for configuration-specific torque, speed, inertia, size, and mass values.

Features

Selectable communication versions: EtherCAT or CANopen.
With-brake and without-brake versions; the listed brake model is a friction brake.
Selectable multi-turn and torque configurations.
Listed communication protocols: EtherCAT, CANopen, and Modbus.
Output-side encoder resolution: 19/20 bit.
Repeatability/absolute accuracy: ±7/±15 arcsec or ±10/±25 arcsec*.
Compatible installation methods.

Specifications

Performance by Strain Wave Gear Ratio

Parameter	14-50	14-80	14-100	14-120
Peak torque for start and stop (Nm)	23	30	36	36
Permissible maximum value at average load torque (Nm)	9	14	14	14
Rated torque (Nm)	7	10	10	10
Permissible maximum momentary torque (Nm)	46	61	70	70
Maximum output rotational speed (RPM)	60	37.5	30	25
Motor power (W)	100	100	100	100
Power input voltage (V)	48 V (±10%)	48 V (±10%)	48 V (±10%)	48 V (±10%)
Hollow bore diameter	18 mm	18 mm	18 mm	18 mm

Shared Parameters

Parameter	Value
Precision	Repeatability/Absolute Accuracy: ±7/±15 arcsec or ±10/±25 arcsec*
Electrical interface	Communication Protocol: EtherCAT/CANopen/Modbus; Output-side Encoder Resolution: 19/20 bit
Installation methods	Same, Compatible
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 arcsec or ±10/±25 arcsec

Version-Specific Mechanical Parameters

Parameter	v4 (14-50 / 14-80)	v5 (14-100 / 14-120)
SWG output-side inertia (g·mm²)	69717	68484
SWG output-side mass (kg)	0.17	0.166
SWG input-side inertia, without brake (g·mm²)	47767	22674
SWG input-side mass, without brake (kg)	0.18	0.087
OD × length, without brake (mm)	Φ70 × 75.3	Φ70 × 71
Total mass, without brake (kg)	0.87	0.82
SWG input-side inertia, with brake (g·mm²)	50996	26128
SWG input-side mass, with brake (kg)	0.19	0.1
OD × length, with brake (mm)	Φ70 × 75.3	Φ70 × 71
Total mass, with brake (kg)	0.93	0.88