Name: EYOU PHU20H-90 Harmonic Drive Robot Actuator, 48 V CANopen/EtherCAT for Robotics
SKU: QNVI298033939379
Availability: InStock

EYOU PHU20H-90 Harmonic Drive Robot Actuator, 48 V CANopen/EtherCAT for Robotics

Price: $149.00 $693.00

OverviewThe EYOU PHU20H-90 is a harmonic-drive robot actuator module with a built-in driver, 48 VDC rated operating voltage, and selectable 81, 101, or 121 reduction...

Description
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Overview

The EYOU PHU20H-90 is a harmonic-drive robot actuator module with a built-in driver, 48 VDC rated operating voltage, and selectable 81, 101, or 121 reduction ratios. Brake and non-brake options are available. It supports EtherCAT and CANopen communication and is specified for robotic applications including humanoid robots, robotic arms, exoskeletons, quadruped robots, AGV vehicles, and ARU robots.

Features

Harmonic reducer with selectable 81, 101, or 121 reduction ratios.
Built-in driver with dual absolute encoders: motor side 19-bit and reducer side 19-bit.
EtherCAT and CANopen communication protocols; CAN FD, EtherCAT, power, and STO connections are specified.
CANopen and EtherCAT protocol support can be switched through software configuration.
Split-body architecture separates the motor and reducer.
Brake and non-brake options are offered.

Specifications

Parameter	Ratio 81	Ratio 101	Ratio 121
Module model	PHU-20H-90
Reducer type	Harmonic
Motor rated power	267 W
Motor rated torque	0.85 Nm
Motor peak torque	2.55 Nm
Reduction ratio	81	101	121
Joint rated power (life constraint)	109 W	104 W	87 W
Rated torque at 2000 rpm input	42 Nm	50 Nm	50 Nm
Average load torque at output	58 Nm	61 Nm	61 Nm
Peak torque at output	91 Nm	102 Nm	108 Nm
Maximum allowable external torque at output (instantaneous)	158 Nm	182 Nm	182 Nm
Backlash	20 arcsec	20 arcsec	20 arcsec
Rated speed at output (life constraint)	25 rpm	20 rpm	17 rpm
Peak speed at output	38 rpm	31 rpm	25 rpm
Brake (B/N)	B/N
Dimensions (outer diameter axial)	90 85.8 mm
Weight (B/N)	1.74 / 1.58 kg
Hollow diameter	13 mm
Housing appearance (process color)	Black anodized (non-sandblasted)
Reducer appearance (process color)	Outer ring blackened
Radial (dynamic/static) allowable load at output	650 N
Axial (dynamic/static) allowable load at output	650 N
Output bending moment	140 Nm
Reducer torsional stiffness	23,000 Nm/rad	23,000 Nm/rad	23,000 Nm/rad
Reducer input inertia (B)	137.378 kgmm	137.378 kgmm	137.378 kgmm
Equivalent joint output inertia (B)	901,337 kgmm	1,401,393 kgmm	2,011,351 kgmm
Rated operating voltage	48 VDC
Operating voltage range	2448 VDC
Driver	Built-in
Encoder/bit	Dual absolute; motor side 19-bit and reducer side 19-bit
Driver interface (see terminal model description)	Power (DC in, DC out), CAN FD (in, out), EtherCAT (in, out), STO (1, 2)
Communication protocol (see communication description)	EtherCAT / CANopen
Control modes	Profile Position (PP), Profile Velocity (PV), Profile Torque (PT), Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), etc.
Operating ambient temperature	20 to 60 C
Housing operating temperature	60 C
Noise	60 dB
Life	>10,000 h

Applications

Humanoid robots
Robotic arms
Exoskeletons
Quadruped robots
AGV vehicles
ARU robots

Downloads

EYOU CANable User Manual (PDF)
PHU20 EYOU 3D Model (STP)
EYOU PHU20H 90 Drawing Drawing (PDF)
EYOU PHU RHU Series Joint CANopen EtherCAT Communication Manual (PDF)
EYOU Robot Joint Catalog Robot Joint Product Catalog (PDF)
EYOU RP Series EN V1.0 20260608 User Manual (PDF)
EYOU UART Debug Module User Manual (PDF)

Visual Details

Product Views

The product is labeled PHU20H-90.

Features and Design

The PHU series is identified as an enhanced harmonic drive robot actuator.The PHU series has a modular configuration with optional brake and force-control function modules. The optional modules are stated to support quick product adaptation and system integration.The split-body design separates the motor from the reducer. Core components can be produced and tested on independent automated lines for easier tracking and control.

Application Examples

The PHU series is described as a new generation of high-performance harmonic joint modules. The PHU series is described for industrial automation and heavy-duty robot applications.Humanoid robot torso with a visible shoulder joint moduleArticulated collaborative robotic arm application illustration

Interfaces and Connections

The actuator supports CANopen and EtherCAT protocols. CANopen and EtherCAT protocol support is switchable through software configuration.

Additional Product Details

EYOU ProServo-HU25H integrated servo joint module illustration with rear connectors

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EYOU PHU20H-90 Harmonic Drive Robot Actuator, 48 V CANopen/EtherCAT for Robotics

Description

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