eRob Joint Modules: Compact Brushless Units with Intelligent Drive for Robotic Arms

• ✔ Compact and integrated design for easier robot development
• ✔ High-precision dual absolute encoders with 19-bit resolution
• ✔ Brushless torque motor with optimized torque-to-weight ratio
• ✔ Fully closed loop control for maximum repeatable accuracy
• ✔ Support for multiple communication protocols including EtherCAT and CANopen
• ✔ Integrated friction brake for stable starting and stopping without jolts
• ✔ Significant reduction in time and cost of developing mechanical and electronic components

Discover the eRob series of articulated modules, a revolutionary solution for the development of robotic arms and automation devices. Built on years of experience, these standardized modules integrate servo drives and absolute encoders, thereby fundamentally simplifying, accelerating and securing the entire robot design process.

⚙️ What does this robotic articulated module offer?

• Comprehensive Integration: Each module elegantly combines a servo drive, brushless torque motor, precision harmonic converter, absolute encoders on both the motor and output sides, torque sensor, friction brake, and DC drive temperature sensor.
• Ultra-lightweight Design: The eRob70 weighs just 0.98 kg, ensuring an optimal weight-to-torque ratio (up to 50 N·m/kg).
• Through Hole: With an outer diameter of just 70 mm and a through hole of 18 mm, the module is ideal for routing cables.
• Advanced Communication Protocols: Supports EtherCAT and CANopen with open position, speed, and current loop for flexible integration into dynamic robotic applications.
• Dual Absolute Encoders: Fully closed loop control with 19-bit absolute encoders at the output ensures extreme accuracy without wear.
• Stable Braking: Integrated friction brake eliminates jolts when stopping and starting, allowing full load from zero speed.

🔍 Explore every detail – Innovations for your robotics project

The eRob series of articulated modules represents the pinnacle of robotics engineering. Their superior design and compact structure save hundreds of hours in selecting, designing, purchasing and assembling mechanical and electronic components. Whether you need the minimally-sized eRob70 module or the more robust eRob142, you get a solution that effectively reduces development complexity and speeds time to market.

With dual absolute encoders and fully closed loop control, eRob modules achieve repeatable positioning accuracy of up to ±10 arc seconds and absolute accuracy of up to ±45 arc seconds. This high level of accuracy is maintained even when power is removed, ensuring reliability and consistency in every movement. The modules are designed to operate in harsh environments and for applications where flawless operation and long-term reliability are key.

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

Creating advanced robotic systems often comes with the hurdles of selecting, integrating, and optimizing dozens of different components. Each individual motor, gearbox, sensor, or controller requires meticulous calibration and testing, dramatically lengthening development cycles and increasing the risk of errors. The result is high costs and frustration from an inefficient process.

🚀 Get your time back with integrated eRob modules!

eRob articulated modules were designed to eliminate these problems. By thoughtfully integrating all key components into a single compact unit, you can forget about complex pick-and-matching. Our modules offer a standardized, pre-optimized solution that will speed up your development, reduce costs, and ensure unmatched reliability and accuracy. Focus on innovation, not integration!

✨ More than just features, real benefits for your project

• Feature: Compact design with integrated motor, converter and electronics -> Benefit: Saves space, simplifies assembly and reduces development time.
• Features: Dual 19-bit absolute encoders -> Benefit: Ensures extreme positioning accuracy and reliable operation even after a power failure.
• Feature: Brushless torque motor with high power density -> Benefit: Provides high torque with minimal weight and energy consumption.
• Function: Support for EtherCAT/CANopen communication -> Benefit: Easy integration into existing control systems and flexibility in applications.
• Function: Integrated friction brake -> Benefit: Safe operation, smooth and precise stop/start even under full load.

🎯 Who is it the ideal choice for?

• For collaborative robot developers: Optimized for lightweight and precise robotic arms requiring high reliability and easy integration.
• For medical robotics: Ideal for devices where extreme precision, quiet operation, and stability are key.
• For automation specialists: For any automation equipment that requires high-precision articulated units with a compact design.

🛡️ Do you have concerns? We'll answer them!

• Concern: Software integration and debugging complexity? -> Answer: The modules support standard protocols such as EtherCAT and CANopen with open loops and PID tuning, which simplifies integration.
• Concern: What if there is a power outage? -> Answer: Dual absolute encoders remember the position even after power is turned off, eliminating the need for recalibration.
• Concern: Weight and dimensions limit design? -> Answer: The eRob series offers ultra-light and compact through-hole modules, optimized for efficient design.

📊 Technical specifications

Parameter	eRob70	eRob80	eRob90	eRob110	eRob142
Harmonic converter - ratio	14-50 / 17-50	14-80 / 17-80 / 20-80	14-100 / 17-100 / 20-100	25-100 / 32-100	25-120 / 32-120
Peak start/stop torque (N m)	18/23 / 34/44	23/30 / 43/56 / 74/96	28/36 / 54/70 / 82/107	157/204 / 333/433	167/217 / 353/459
Rated torque (N m)	5.4/7 / 16/21	7.8/10 / 22/29 / 34/44	7.8/10 / 24/31 / 40/52	67/87 / 137/178	67/87 / 137/178
Instantaneous maximum allowable torque (N m)	35/46 / 70/91	47/61 / 87/113 / 127/165	54/70 / 110/143 / 147/191	284/369 / 647/841	304/395 / 686/892
Peak output speed (RPM)	60	37.5	30	20	16.7
Motor power (W)	100	200	400	750	1000
Supply voltage (V)	48 (±10%)
Rated current (A)	3.3	6.9	11	20	26
Peak current (A)	11	16.8	29	40	56
Output encoder resolution	19 Bits
Repeatable/absolute positioning accuracy	±10 / 45 arc seconds
Communication bus	EtherCAT / CANopen
Outer diameter x length x through hole (mm)	70*81*18	80*95*18	90*102*18	110*127*18	142*137*18
Weight (KG)	0.98	1.4	2.1
Interface design	Fully differential interface design, strong anti-interference ability; dual sets of anti-loosening plugs, can be connected in series
Brake	Friction damping brake
Package contents	2x 48V power connector (2pin), 2x CANopen connector and wiring, 2x EtherCAT connector and wiring (4pin), 1x I/O connector and wiring (12pin)

❓ Frequently Asked Questions

What are the main advantages of using eRob articulated modules?

eRob modules offer an integrated design, high accuracy thanks to dual encoders, a brushless rotary motor, easier and faster development, compact dimensions and an optimized torque-to-weight ratio.

What is the positioning accuracy of these modules?

Thanks to 19-bit absolute encoders, the modules achieve repeatable positioning accuracy of up to ±10 arc seconds and absolute accuracy of up to ±45 arc seconds.

What communication protocols do the modules support?

The modules are compatible with common communication protocols such as EtherCAT and CANopen, allowing easy integration into various control systems.

For which applications are eRob modules best suited?

They are primarily designed for collaborative robots, medical robots, and a wide range of other automation devices where precision and reliability are key.

Can I use the modules with full load from zero speed?

Yes, the integrated friction brake ensures stable, shock-free starting and stopping, allowing safe and reliable starting even with full load from zero speed.

What key components are integrated in the module?

Each module includes a servo drive, a brushless torque motor, a precision harmonic converter, absolute encoders (motor/output), a torque sensor, a friction brake, and a DC drive temperature sensor.

What are the dimensions and weight of the eRob70 module?

The eRob70 module features compact dimensions: 70 mm outer diameter, 81 mm length and 18 mm through hole. Its ultra-lightweight design weighs only 0.98 kg.

Do the modules offer protection against interference?

Yes, the modules feature a fully differential interface design for strong interference immunity and dual sets of anti-loosening plugs, ensuring stable and reliable communication.