• Tiny and Precise
• Outer diameter: 90mm
• Length: 75.9mm
• Weight: 1.506kg
• Max.Torque: 191N·m
• Max.Speed: 60RPM

Difference between the V3 & V6 Versions

Similarities Between Different Versions	Installation Methods	Same，Compatible
	Hollow Bore Diameter	18mm
	Precision	Repeatability/Absolute Accuracy: ±7/±15 arc sec or ±10/±25 arc sec*
	Electrical Interface	Communication Protocol:EtherCAT/CANopen/Modbus,Output-side Encoder Resolution:19/20Bit
	Strain wave gear-ratio		20-50		20-80		20-100		20-120
	Peak torque for start and stop(Nm)		73		96		107		113
	Permissible max.value at average load torque(Nm)		44		61		64		64
	Rated torque(Nm)		33		44		52		52
	Permissible maximum momentary torque(Nm)		127		165		191		191
	Max. output rotational speed(RPM)		60		37.5		30		25
	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.
Version		V3					V6
Motor power(W)		300					314
SWG Output Side Inertia（g-mm2）		297466					273391
SWG Output Side Mass（kg）		0.36					0.321
Without Brake	SWG Input Side Inertia（g∙mm²）	139067					95791
	SWG Input Side Mass（kg）	0.41					0.257
	OD * Length（mm）	Φ90x98.9					Φ90x75.9
	Total Mass（kg）	1.75					1.506
With Brake	SWG Input Side Inertia（g∙mm²）	147025					110213
	SWG Input Side Mass（kg）	0.43					0.292
	OD * Length（mm）	Φ90x98.9					Φ90x75.9
	Total Mass（kg）	1.87					1.639
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 seconds.
Please note that the specifications provided above are subject to slight variations in different product versions,for precise and specific specifications,it is recommended to refer to the detailed drawings of each model and version