eRob 110I V4

Rotary Actuator

Features:

Tiny and Precise

Outer diameter：110mm

Length：115.2mm

Weight：3.0kg

Max.Torque：408N·m

Max.Speed：60RPM

About Rotary Actuator

eRob rotary actuator, also called eRob servomotor or eRob servo motor, is an all-in-one robotic joint.

eRob servomotor unites in a single housing all the main elements: dual absolute encoders, a controller, a strain wave gear（SWG） and a servo motor. Since the controller is integrated into the robotic actuator, the eRob series is a DC servomotor with a brushless AC core.

ZeroErr provides a 1-YEAR WARRANTY. Our online support team is eager to help you whenever needed. Detailed video instructions and technical documentation are provided. Average servomotor lead-time 2-4 weeks.

ZeroErr has the first international ISO9001 certificate among domestic counterparts. What's more, we have CE certificate and RoHS report. Our eRob rotary actuators satisfy the requirements of the Electromagnetic Compatibility Directive 2014/30/EU.

8 Core components

Product Data

Model

eRob110HXXI（V4）

Strain wave gear-ratio

25-50

25-80

25-100

25-120

25-160

Peak torque for start and stop(Nm)

127

178

204

217

229

Permissible max.value at average load torque(Nm)

113

140

Rated torque(Nm)

Permissible maximum momentary torque(Nm)

242

332

369

395

408

Max. output rotational speed(RPM)

37.5

18.75

Motor power(W)

750

Power Input Voltage(V)

48V (±10%)

Please make sure to read "Comparison of Switching Power Supply and ePower" and the “eRob Rotary Actuator User Manual” Chapter 3, for clear instructions on powering the eRob module.

Strain wave gear output inertia(g-mm²)

Strain wave gear output mass(KG)

Outer diameter*length

110*115.2mm

Strain wave gear input inertia(g-mm²)

277434

Strain wave gear input mass(KG)

Weight(KG)

2.88

Common parameters

ID: 18mm, IP grating:IP54^*, Brake model: friction brake

Optional device

Communication type: EtherCAT / CANopen/Modbus, Output encoder resolution: 19Bit. Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc second.

EtherCAT version rotary actuator

Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.

CANopen version rotary actuator

Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.

Benefits

Built-in servo driver. Communication protocols

With EtherCAT, CANopen, Modbus communication protocols.

Position,Speed, Current loop PID adjustable in real-time.

Built-in ± 10V analog input.

Pulse and direction, I/O, RS485,

External encoder and STO interface,

All in the space of DxL=70x67mm

Built-in dual absolute encoder. Dual loop position control

19bit absolute multiturn encoder for output shaft.

Repeatability up to ±7 arc seconds.

Absolute accuracy up to ±15 ^* arc seconds.

Always have real absolute position and multi-turn counter when power-off.

Friction brake inside

Brake smooth and stable.

No gap; No backlash.

No need to move when power-on.

No wear and tear.

Can be used as Emergency Stop.

Applications

Motion Control Scheme for Exoskeleton Robot

Related tools

eRob Dedicated Cables

I/O Adapter Board

Battery

ePower-Board

ePower

RJ45 Cable

eCoder to PC Connector

eRob Universal Accessories Kit

eRob to PC Connector

Contact US

Sales Support:

Tel:86 15921652291

Email: partner@roboxx.xyz

Request For Quote

Submit the questionnaire, and we will find the most suitable solution for you.

Models		eRob110HXXI（V4）
Strain wave gear-ratio		25-50	25-80	25-100	25-120	25-160
Peak torque for start and stop(Nm)		127	178	204	217	229
Permissible max.value at average load torque(Nm)		72	113	140	140	140
Rated torque(Nm)		51	82	87	87	87
Permissible maximum momentary torque(Nm)		242	332	369	395	408
Max. output rotational speed(RPM)		60	37.5	30	25	18.75
Motor power(W)		750
Strain wave gear output inertia(g∙mm²)		-
Strain wave gear output mass(kg)		-
Without brakes	Strain wave gear input inertia(g-mm²)	277434
	Strain wave gear input mass(kg)	-
	Outer diameter*length(mm)	110*115.2
	Weight(KG)	2.88
With brakes	Strain Wave Gear(SWG) input inertia(g-mm²)	285402
	Strain wave gear input mass(kg)	-
	Outer diameter*length(mm)	110*115.2
	Weight(KG)	3.06
Common parameters		Supply voltage: 48V(±10%), ID: 18mm, IP grating: IP54^* Brake model: friction brake
Optional device		Communication type: EtherCAT / CANopen/Modbus, Output encoder resolution: 19Bit, Repeatability/Accuracy: ±7/±15 arc seconds or ±10/±25 arc second.
EtherCAT version rotary actuator		Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.
CANopen version rotary actuator		Optional interface: RS485, Pulse/DIR, I/O, ±10V Analog and STO.