Ti5 CRA-RI50-70-PRO-XX Integrated Robot Joint Harmonic Gear, Hollow Shaft, 2448V 150W, 17-bit Encoder, CAN/EtherCAT

Overview

The Ti5 Robot CRA-RI50-70-PRO-XX is a compact, hollow-shaft integrated robot joint that combines a precision harmonic reducer, frameless torque motor, FOC drive, and absolute encoder in one module. With an 80 mm outer diameter, 10 mm thru-hole, 150 W power, and 2448 V supply, it delivers up to 34 Nm peak (ratio-dependent) with near-zero backlash and low noise. Communication is selectable between CAN and EtherCAT; single or dual encoders and an electromagnetic brake variant (-B) are available. This joint is designed for cobots, mobile manipulators, pan-tilt gimbals, industrial equipment, power-inspection robots, and marine platforms.

Key Features

• All-in-one joint: harmonic reducer + BLDC torque motor + FOC driver + absolute encoder in a sealed compact body.

• Hollow shaft: 10 mm central pass-through for cables/air lines.

• High-accuracy feedback: 17-bit absolute encoder, power-off multi-turn memory; single/dual-encoder options.

• Low backlash output: harmonic stage with ~1020 arc-sec backlash (per ratio).

• Quiet & smooth: large-pole-count torque motor for low-speed stability and low acoustic noise.

• Interface options: CAN or EtherCAT bus; optional holding brake (model suffix -B).

• Customizable: waterproofing/low-temperature versions available from factory.

Models & Options

• CRA-RI50-70-PRO-XX standard, no brake ( 60 0.5 mm length, 0.65 kg, inertia 124 gcm)

• CRA-RI50-70-PRO-XX-B with brake (length 81.7 0.5 mm)

• Bus: CAN or EtherCAT

• Encoder: Single or Dual encoder

Rated Performance by Gear Ratio

Gear ratio	Start/Stop Peak Torque (Nm)	Max Avg Load Torque (Nm)	Rated Torque @ 2000 rpm/ratio (Nm)	Peak Output Speed (rpm)	Rated Speed @ Trated (rpm)	Backlash (arc-sec)
51:1	23	8.6	6.6	97	75	20
81:1	29	13.5	9.6	61	46	20
101:1	34	13.5	9.6	49	37	10

Notes: Output speed/torque figures are at the reducer output. Lower backlash spec applies to the 101:1 variant.

Electrical & Motor Data

• Power: 150 W

• Supply voltage: 2448 VDC

• Max continuous current: 5 A|Rated current: 3.6 A|Phase resistance: 0.47

• Torque constant: 0.089 Nm/A|Inductance: 0.215 mH|Pole pairs: 10

• Encoder resolution: 17-bit absolute (power-off memory)

• Field-oriented control (FOC) integrated

Mechanical Interface

• Outer diameter: 80 mm

• Bolt circle: 64 mm (front flange)

• Through-hole: 10 mm

• Overall length: 60 0.5 mm (standard) / 81.7 0.5 mm (-B with brake)

• Mass: ~0.65 kg (standard)

• Inertia (rotor): ~124 gcm (standard)

• Front face provides multiple M3 fasteners; detailed hole pattern per mechanical drawing.

Connectivity

• Bus: CAN or EtherCAT

• Variants: Single-encoder / Dual-encoder

• Brake option: -B models include an integrated holding brake.

Typical Applications

• Collaborative and desktop robotic arms, service robots

• Pan-tilt gimbals and camera systems

• Mobile manipulation and power-inspection UGVs

• Industrial automation modules and marine equipment

Whats Included

• CRA-RI50-70-PRO-XX integrated joint (selected ratio & options)

• Mating connectors & basic screws (per kit)

• Mechanical drawing & pinout (digital)

Ordering Code (example)

CRA-RI50-70-PRO-XX-(B, T, 2E, IPXX)

• XX: gear ratio (51/81/101)

• B: with brake (blank = no brake)

• T/2E: single/dual encoder options

• IPXX: optional waterproof rating (on request)

Details

CRA-RI50-70-PRO-XX robotic joint specifications: 150W motor, 24-48V, CAN bus, 51-101 gear ratios, peak torque up to 34N.m, 600.5mm length, 0.65kg weight, 124gcm inertia.

Robotic joint with 51, 81, or 101 gear ratios, 150W power, 2448V supply, CAN communication, 17 RPM encoder resolution, 81.70.5mm length, and 0.8kg weight.