A Zeroerr Robot Joint Module typically integrates the following components:

1. Absolute Encoder for Motor

2. Multiturn Absolute Encoder for Output Shaft

3. Servo Motor

4. High-Precision Strain Wave Gear (Harmonic Drive)

5. Servo Driver with EtherCAT or CANopen Communication

6. Temperature Sensor

7. Friction Brakes

8. Virtual Torque Sensor on Output Shaft

eRob I Series