Robotic articulated module eRob series with harmonic drive

• ✔ Standardized module to simplify robot development
• ✔ Integrated key components to save time and costs
• ✔ High repeat positioning accuracy of up to ±10 arcsec
• ✔ Compact and lightweight design, ideal for optimizing robotic construction
• ✔ Support for EtherCAT and CANopen communication protocols
• ✔ Built-in dual absolute encoders for fully closed loop control
• ✔ Friction brake for stable operation and safe stopping

The eRob series of robotic joint modules is an innovative and standardized solution that radically simplifies, accelerates and secures the development of robotic arms for a wide range of applications. By integrating key components into one compact unit, these modules save hundreds of hours of work associated with the selection, design, purchase and assembly of mechanical and electronic components.

⚙️ What does this module offer?

• **Complete Integration:** eRob modules combine a frameless torque motor, precision harmonic reducer, DC driver, absolute encoder on the motor side, multi-turn absolute encoder on the output side, temperature sensor, friction brake and torsion sensor. This integrated approach minimizes the need for complex interconnection of individual parts.
• **Compact design and light weight:** For example, the eRob70 model, with an outer diameter of just 70 mm and a through hole of 18 mm, weighs only 0.98 kg. This lightness and compactness ensures an optimized weight ratio in the robot design.
• **Wide range of models:** eRob70, eRob80, eRob90, eRob110, eRob142 models are available, offering different sizes and specifications to meet individual project requirements.
• **Advanced Connectivity:** Support for EtherCAT and CANopen communication protocols enables open loop control of position, speed and current with real-time PID parameter settings. Ideal for dynamic loads and variable inertia applications.
• **Dual Absolute Encoders:** With a 19-bit absolute encoder output, the module achieves repeatability of ±10 arcsec and absolute accuracy of ±45 arcsec. The ability to store single and multi-turn positions even during power failure ensures a fully closed-loop control without loss of accuracy due to wear.

🔬 Explore every detail

The eRob series of robotic joint modules is a key element for the next generation of robotic systems. Their sophisticated architecture and high-end components, such as harmonic reducers, are designed to maximize performance and reliability. Thanks to the standardized approach and high level of integration of these modules, engineers and developers can significantly reduce the time to market for robot development. Each module is the result of many years of experience in servo drives and absolute encoders. Their robust design with friction brake ensures that the robot arm can start from zero speed even under full load without unwanted vibrations. In addition, the fully differential interface design guarantees strong immunity to interference, which is critical in harsh industrial environments.

🛠️ Are you bothered by the complexity and time-consuming nature of robot development?

The development of modern robotic systems often comes up against the complexity of integrating dozens to hundreds of mechanical and electronic components. From choosing the right motor, to encoders and reducers, to control electronics – each step represents a challenge that consumes valuable time and financial resources. Standard solutions are often large and cumbersome, which limits flexibility and innovation in robot design.

💡 Get your time back and accelerate innovation with eRob modules!

The eRob series of robotic joint modules is exactly the solution that eliminates the above-mentioned problems. Thanks to the maximum integration of key components into one compact unit, the time required for design, testing and assembly is dramatically reduced. This allows you to focus on innovation and specific functions of your robot, instead of complex tuning of individual components. With eRob modules, you will reach the final product faster, with higher reliability and accuracy.

✨ More than just features, real benefits:

• Component integration: Frameless motor, encoder, reducer and driver in one module. -> Benefit: Dramatic time and cost savings and simplification of the entire robot development process.
• Dual absolute encoders: Accuracy up to ±10 arcsec, position memory. -> Benefit: Extreme positioning accuracy and reliability even after power failure.
• Compact and lightweight design: Low weight and small dimensions. -> Benefit: Optimizes weight and space in the robot, allowing for slimmer and more dynamic designs.
• EtherCAT/CANopen communication protocols: Open loop control. -> Benefit: Flexible and fast integration into existing and new control systems with the possibility of detailed tuning.
• Friction brake: Stable stopping and starting with full load. -> Benefit: Safe and smooth operation of the robot even in demanding applications, elimination of vibrations.

🎯 Who is it the ideal choice for?

• **Collaborative robot developers:** eRob modules are designed for easy integration into collaborative robot arms where precision, compactness, and reliability are key.
• **Medical robot builders:** Their high precision and reliability make them ideal for sensitive applications in medical robotics where maximum control is required.
• **Humanoid and quadrupedal robot designers:** They provide the necessary strength and precision for complex movements and stabilization of these advanced robotic systems.
• **Automation Engineers:** For anyone looking for an efficient and reliable solution for modular robotic arms and other automation equipment.

🤔 Do you have any concerns? We'll answer them:

• Concern: Integrating such a complex module will be difficult. -> Answer: The eRob module is designed as a standardized product with maximum integration, which significantly simplifies wiring and setup compared to assembling dozens of individual components.
• Concern: What is the actual positioning accuracy? -> Answer: With dual 19-bit absolute encoders, the module achieves a repeat accuracy of ±10 arcsec and an absolute accuracy of ±45 arcsec, which is best in its class.
• Concern: The module will be too heavy for my robot. -> Answer: Models like the eRob70 weigh just 0.98 kg and are designed to be ultra-thin and lightweight to effectively optimize the overall weight of the robot structure.

📊 Technical specifications

Parameter	eRob70	eRob80	eRob90
Engine power	100W	200W	400W
Rated current	3.3 A	6.9 A	11 A
Peak current	11 A	16.8 A	29 A
Outer diameter x length x through hole	70 x 81 x 18 mm	80 x 95 x 18 mm	90 x 102 x 18 mm
Weight	0.98 kg	1.4 kg	2.1 kg
General specifications and ranges (applies to the entire series)
Harmonic reducer ratio	14-50 to 20-100 (depending on variant)
Peak torque (start-stop)	18/23 to 82/107 Nm
Rated torque	5.4/7 to 40/52 Nm
Maximum permissible torque (instantaneous)	35/46 to 147/191 Nm
Top output speed	30 to 60 RPM
Supply voltage	48V (±10%)
Output encoder resolution	19 bits
Repeated position accuracy	±10 Arcsec
Absolute position accuracy	±45 Arcsec
Communication bus	EtherCAT / CANopen
Interface design	Fully differential, strong interference resistance; dual anti-loose plugs, series connection possible
Brake	Friction damping brake
Main use	Collaborative robots, medical robots and other automation devices
Package contents (for one module)
2x 48V power connector (2pin)
2x CANopen connector and cabling
2x EtherCAT connector and cabling (4pin)
1x I/O connector and cabling (12pin)

❓ Frequently Asked Questions

What is the main advantage of the eRob series modules?

The main advantage is the standardized integration of key components (motor, encoders, reducer, driver) into one compact unit, which significantly simplifies and speeds up the development of robotic arms and saves time and costs.

What positioning accuracy do the modules offer?

The modules are equipped with 19-bit dual absolute encoders that provide repeatable positioning accuracy of up to ±10 arcsec and absolute accuracy of ±45 arcsec.

What communication protocols are supported?

The modules support standard EtherCAT and CANopen communication protocols, allowing flexible integration into various control systems.

Can the module be used for different types of robots?

Yes, eRob modules are ideal for collaborative robots, medical robots, humanoid and quadruped robots, and other automation devices where high precision and reliability are required.

How does the module handle starting and stopping at full load?

eRob modules use a friction brake, which ensures stable stopping without jolts and allows starting from zero speed even with full load.

What models are available and how do they differ?

The eRob70, eRob80, eRob90, eRob110 and eRob142 models are available, which differ in their dimensions, weight, engine power and maximum torques, which allows you to choose the optimal variant for a specific application.

What is the weight of the eRob70 module?

The eRob70 model is ultra-thin and lightweight, weighing only 0.98 kg, which contributes to the overall weight optimization of the robotic arm.