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Product Description

Overview

This 200W integrated servo joint actuator combines motor, harmonic reducer, driver, and encoder into one compact unit. It supports position and speed control, suitable for robotic joints and automation systems.

Key Specifications

• Power: 200W
• Voltage: 24–36V DC
• Motor Rated Speed: 1000 RPM
• Max Speed: 1500 RPM
• Motor Torque: 2 Nm
• Rated Current: 7A
• Weight: 2.5 kg

Output Torque

• 50 Ratio:
  • Rated Torque: 51 Nm
  • Peak Torque: 127 Nm
• 80 Ratio:
  • Rated Torque: 85 Nm
  • Peak Torque: 178 Nm

Reducer Parameters

• Gear Ratio Options: 50 / 80
• Output Speed Range:
  • 50 ratio: 0–30 RPM
  • 80 ratio: 0–19 RPM
• Backlash: < 20 arcmin
• Service Life: 8500 hours

Encoder & Feedback

• Multi-turn absolute encoder
• Single-turn: 15-bit
• Multi-turn: 9-bit

Control & Interface

• Control Modes: Position / Speed
• Communication:
  • CANopen (CAN communication, 1M rate)
  • RS485 (from image: “485/canopen”)
• Pulse Control:
  • Pulse + Direction
  • A/B phase supported
• Max Pulse Frequency: 500 KHz
• Position Sampling Frequency: 2 KHz
• Electronic Gear Ratio: 1–65535

Electrical Parameters

• Resistance: 0.53 Ω
• Inductance: 0.5 mH
• Rotor Inertia: 1.74 × 10⁻⁴ kg·m²

Protection Functions

• Stall protection
• Overcurrent protection
• Overvoltage protection

Working Conditions

• Ambient Temperature: 0–40°C
• Max Motor Temperature: 85°C
• Humidity: 5–95%

Features

• Integrated motor + driver + reducer design
• FOC vector control
• Supports position / speed closed-loop control
• CANopen communication compliant with CiA301 V4.2.0
• Supports SDO / TPDO / RPDO
• Supports pulse + direction control
• Supports PWM duty control (speed mode)
• Low noise, low vibration
• Multi-turn absolute positioning
• Supports homing and multi-position memory
• Encoder retains position after power loss (low power consumption)

Interfaces

Power Interface

• +V: 24–36V DC
• GND

Communication Interface (DB9)

• PU+ / PU-
• DIR+ / DIR-
• CANL / CANH
• COM

Applications

• Industrial robotic arms
• Humanoid robots
• Exoskeleton systems
• Automation equipment

Important Notes

• Rated voltage range is 24–36V, but parameter table shows 36VDC ±10% nominal
• Torque depends on selected gear ratio
• Only 50 / 80 ratio data confirmed in spec sheet
• Communication protocol depends on selected variant