Ti5 Robot CRA-RI60-70-PRO-S-XX Hollow-Shaft Joint Actuator, 2448 V CAN/EtherCAT, IP65, 51102:1, up to 66 Nm peak, -B brake option

Overview

The Ti5 Robot CRA-RI60-70-PRO-S-XX is a compact, hollow-shaft integrated robot joint for arms, humanoids, exoskeletons, UAV mechanisms and mobile platforms. It combines a frameless BLDC torque motor, precision reducer, magnetic absolute encoder (single or dual), and drive interface in one IP65 module. The PRO-S architecture prioritizes miniaturization and fast dynamic response while keeping a high load-to-weight ratio. Communication is CAN by default, with EtherCAT available. A factory brake version -B adds a holding brake for power-off safety. (All values below are read from the provided datasheets and product screenshots.)

Key Features

• Hollow-shaft compact joint module (60/70 series) for easy cable and pneumatics routing

• Ratios 51, 81, 101, 102 with low backlash (down to 10 arcsec depending on ratio)

• Peak torque up to 66 Nm; rated torque up to 30 Nm (2000 rpm/ratio condition)

• Fast response; high load-to-weight design (0.69 kg standard / 0.84 kg with brake)

• IP65 dust-/water-proof housing, aluminum structure

• Magnetic absolute encoder, 17-bit; single- or dual-encoder options

• 2448 V DC supply, CAN bus (EtherCAT optional); through-shaft 18 mm

• -B variant adds power-off brake; longer body and higher inertia for holding

Specifications

Common electrical & mechanical

• Motor power: 300 W

• Supply voltage: 2448 V DC

• Max continuous current: 6.7 A; Rated current: 5 A; Phase resistance: 0.33

• Torque constant: 0.096 Nm/A; Inductance: 0.074 mH; Pole pairs: 10

• Encoder: magnetic absolute, 17-bit; single/dual selectable

• Communication: CAN (EtherCAT optional)

• Through-bore: 18 mm; Protection: IP65

Per gear ratio (CRA-RI60-70-PRO-S-XX)

Ratio	Start/Stop Peak Torque (Nm)	Max Continuous/Avg Torque (Nm)	Rated Torque @ 2000 rpm/ratio (Nm)	Peak Output Speed (rpm)	Rated Speed @ Rated Torque (rpm)	Backlash (arcsec)
51	42	32	19.8	82	68	20
81	53	33	27.5	51	43	20
101	66	49	30	41	34	10
102	66	49	30	32	24	10

Form factor & inertia

• Standard (-XX): length 70.7 0.5 mm; weight 0.69 kg; rotor inertia 382 gcm

• With brake (-XX-B): length 89.7 0.5 mm; weight 0.84 kg; rotor inertia 538 gcm

Other catalog data

• Rated torque reference value: 30 Nm

• Typical rated speed: 30 rpm (ratio-dependent)

• Operating temperature: up to 60 C

• Mounting: screw mounting; keyed shaft interface

Notes: single/dual encoder, brake option, and bus type are selectable at order; EtherCAT shown as Ether-cat in the screenshots. All dimensions and ratings above are taken directly from the provided sheets for CRA-RI60-70-PRO-S-XX and CRA-RI60-70-PRO-S-XX-B.

Applications

• 6-axis collaborative and industrial robotic arms

• Humanoid joints (shoulder, elbow, hip, knee)

• Exoskeletons and rehabilitation devices

• UAV gimbals/mechanisms and light manipulators

• AGV/AMR mechanisms, small machine tools and lab automation

Details

CRA-RI60-70-PRO-S-XX actuator specifications: 300W motor, 24-48V, 5A rated current, 17 RPM encoder resolution, CAN communication, 0.69kg weight, 382 GCM inertia, multiple gear ratios with torque and speed data.

CRA-RI60-70-PRO-S-XX-B actuator specifications: 300W motor, 24-48V, 5A rated current, 0.33 resistance, 17 RPM encoder resolution, CAN bus, 0.84kg weight, 538 Gcm inertia. Dimensions: 89.70.5mm length, 70.37mm.