8 Core components

Absolute encoder for motor,Multiturn absolute encoder for output shaft,Servo motor,Servo driver Temperature sensor,Fricition brake,Virtual Torque Sensor on output shaft,Precision strain wave gear（SWG）,servo motor.

Absolute Encoder for Motor Multiturn Absolute
Encoder for Output Shaft Servo Motor High Precision
Strain Wave Gear Servo Driver
Temperature Sensor Friction Brakes Virtual Torque Sensor
on Output Shaft

Advantages

Under no-load conditions and an ambient temperature of 25°C,when the output shaft speed is 0,measurement values for different modules may vary. These data are for reference only.

For collaborative robots with a 10kg load,under normal operating conditions, the surface temperature of the sixth axis may vary between different modules and environments.These values are for reference only.

***

Based on the lifespan calculation formula taking the fourth axis of a 20kg collaborative robot as an example:

Due to the reduced weight of the last three eRob90 joints,the load on the fourth axis decreases, thereby enhancing its lifespan:

The lifespan of the eRob 90I V6 can be increased by 13.2%.

Reference: HarmonicDrive Reducer Catalog, formula 012-1, PP.12.

Allows for straight-through robot arm design

More suitable for humanoid robots, bionic robots, and collaborative robots

Traditional Structure Effects achievable by eRob90I V6

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
	Motor power(W)		100
	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
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;Furthermore,for detailed information regarding accuracy,please consult the following link:https://www.zeroerr.com/about_us/certificates-patents/test-report.

eRob series Back Cover Update(eg:ECAT Version)

eRob I Series(ECAT Version) eRob I Series(ECAT Version)

The 'E' in 'MC XX.EX.XX'represents the new version of the back cover.

The transition between the old and new versions will occur naturally, with the old version back covers being phased out as inventory is depleted, and the new version back covers being adopted exclusively.