eRob 142 I

Rotary Actuator

Features:

Tiny and Precise

Outer diameter：142mm

Length：133.9mm

Weight：6.7kg

Max.Torque：892N·m

Max.Speed：40RPM

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

eRob142HXXI

Strain wave gear-ratio

32-50

32-80

32-100

32-120

32-160

Peak torque for start and stop(Nm)

281

395

433

459

484

Permissible max.value at average load torque(Nm)

140

217

281

Rated torque(Nm)

153

178

Permissible maximum momentary torque(Nm)

497

738

841

892

Max. output rotational speed(RPM)

16.7

12.5

Motor power(W)

1000

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)

2589596

Strain wave gear output mass(KG)

1.21

Outer diameter*length

142*133.9mm

Strain wave gear input inertia(g-mm²)

1244894

Strain wave gear input mass(KG)

1.33

Weight(KG)

6.49

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		eRob142HXXI
Strain wave gear-ratio		32-50	32-80	32-100	32-120	32-160
Peak torque for start and stop(Nm)		281	395	433	459	484
Permissible max.value at average load torque(Nm)		140	217	281	281	281
Rated torque(Nm)		99	153	178	178	178
Permissible maximum momentary torque(Nm)		497	738	841	892	892
Max. output rotational speed(RPM)		40	25	20	16.7	12.5
Motor power(W)		1000
Strain wave gear output inertia(g∙mm²)		2589596
Strain wave gear output mass(kg)		1.21
Without brakes	Strain wave gear input inertia(g-mm²)	1244894
	Strain wave gear input mass(kg)	1.33
	Outer diameter*length(mm)	142*133.9
	Weight(KG)	6.49
With brakes	Strain Wave Gear(SWG) input inertia(g-mm²)	1273287
	Strain wave gear input mass(kg)	1.37
	Outer diameter*length(mm)	142*133.9
	Weight(KG)	6.7
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.