eRob90H100I
Robot joint actuator from Shenzhen's ZeroErr: frameless motor, size-20 strain-wave gear (1:100), dual absolute encoders and EtherCAT drive in one hollow-shaft unit — 52 N·m rated at the output.
Figures are copied from the maker’s published datasheet; curves are calculated from them. Confirm with the manufacturer before ordering. Not stated on the datasheet, estimated from it: rated power (calculated from rated torque × speed), maximum speed, resistance, inductance, pole count, IP rating.
How this motor is made
Full manufacturing overview: Direct-drive Torque Motor & Robot Joint Module →- 1. Segment lamination stamping & stacking
- 2. Segment insulation & winding
- 3. Stator ring assembly & connection
- 4. Stator test, potting & curing
- 5. Rotor magnet bonding
- 6. Magnetising
- 7. Crossed-roller bearing installation & preload
- 8. Encoder mounting & calibration
- 9. Strain-wave gear assembly & lubrication (joint module)
- 10. Joint calibration: backlash, stiffness & accuracy
- 11. End-of-line test
Export certification: Motor for high-voltage drives
- Rated power
- 163 W
- Rated torque
- 51.9 N·m
- Peak torque
- 107 N·m
- Rated / max speed
- 30 / 40
Performance curves
Illustrative curve; actual limits depend on drive voltage and cooling.
Full specifications
General
- Motor type
- AC Servo Motor
- Series
- ZeroErr eRob harmonic actuator
- Frame / flange
- Ø96 mm
- Encoder
- 19/20-bit absolute (dual)
Rated Values
- Rated voltage
- 48 V
- Rated power
- 163 W
- Rated torque
- 51.9 N·m
- Rated speed
- 30 rpm
- Rated current
- 6.7 A
Performance
- Peak torque
- 107 N·m
- Maximum speed
- 40 rpm
- Overload ratio
- 2.06 ×
Electrical
- Torque constant Kt
- 7.74 N·m/A
- Back-EMF constant Ke
- 811 V/krpm
- Resistance
- 0.5 Ω
- Inductance
- 0.5 mH
- Poles
- 10
Mechanical
- Rotor inertia
- 1,391 g·cm²
- Body length
- 124 mm
- Shaft diameter
- 18 mm
- Weight
- 2.48 kg
- Power density
- 65.7 W/kg
- Protection
- IP54
Compatible drivers
All drivers →Drivers whose supply voltage covers this motor and whose continuous current is at least its rated current; drivers from the same maker first. Confirm Hall/encoder type and settings with the maker.
| Model | Maker | Motor type | Supply | Cont. / peak current | Feedback |
|---|---|---|---|---|---|
| SVD60-6R5 | Inovance | Servo | 24–72 V DC | 6.5 A / 22.8 A | Absolute encoder |
| ELD2-RS7010 | Leadshine | Servo | 24–70 V DC | 10 A / 35 A | Incremental encoder |
| NU-BL5010-02 | Nuelectronics | BLDC, Servo | 18–50 V DC | 10 A | Hall sensors, Incremental encoder |
| OD125S | Kinco | Servo | 24–48 V DC | 10 A / 36 A | Absolute encoder, Incremental encoder |
| MBR2420-IE | MINE Motor | Servo, BLDC | 24–50 V DC | 10 A / 30 A | Incremental encoder, Hall sensors |
| DCPC-09016-OPE | ZP Motors | BLDC, Servo | 18–90 V DC | 11 A / 33 A | Hall sensors, Incremental encoder |