eRob90T Robot Joint Actuator

The eRob T-type joint module is a highly integrated all-in-one robotic actuator designed to simplify robot development. It combines eight core components into a single compact unit, including a servo motor, high-precision harmonic gear reducer, dual absolute encoders, servo drive, friction brake, temperature sensor, and virtual torque sensor. This plug-and-play solution eliminates complex external component selection and integration, making it ideal for building high-performance collaborative robots and humanoid robots.

The module features a built-in servo driver with multiple industrial communication protocols, including EtherCAT, CANopen, and Modbus. It supports real-time adjustment of position, speed, and current loop PID parameters, ensuring precise motion control for advanced robotics applications.

Additional interface options include ±10V analog input, pulse and direction control, I/O, RS485 communication, external encoder support, and STO (Safe Torque Off) interface, providing flexible integration into various automation systems.

The built-in dual absolute encoder system enables dual-loop position control for enhanced precision and stability. The output shaft is equipped with a 19-bit absolute multi-turn encoder, delivering high accuracy and reliable position tracking.

Key encoder performance features include repeatability up to ±7 arc seconds and absolute accuracy up to ±15 arc seconds. The system retains real absolute position and multi-turn count even after power-off, ensuring consistent and safe operation.

The module is equipped with an internal friction brake that ensures smooth and stable operation. The brake design eliminates gaps and backlash, improving motion accuracy and system reliability.

It requires no movement during power-on, minimizes wear and tear, and can also function as an emergency stop mechanism, enhancing overall safety in robotic systems.