| CRA-RI30-40-PRO-2 Joint Module Performance Specifications |
| Parameter | Unit | Reduction Ratio 51 | Reduction Ratio 101 |
| Reduction Ratio |
| 51 | 101 |
| Peak Torque (Start/Stop) | N.m | 3.3 | 4.8 |
| Max. Permissible Average Load Torque (Robot) | N.m | 2.3 | 3.3 |
| Rated Torque at 2000rpm ÷ Reduction Ratio (Industrial) | N.m | 1.8 | 2.4 |
| Peak Output Speed | rpm | 118. | 59. |
| Rated Speed (at 1/2 Rated Torque) | rpm | 90. | 45. |
| Backlash | arcsec | 40. | 40. |
| Rated Power | W | 30. |
| Supply Voltage | V | 24-48 |
| Encoder Resolution | bit | 16. |
| Communication Bus | — | CAN |
| Brake Torque (No Brake / With Brake) | N.m | 0/0.06 |
| Torsional Stiffness | 10^4 N/rad | 0.04 | 0.09 |
| Permissible Radial Load | KN | 3.19 |
| Permissible Axial Load | KN | 6.56 |
| Permissible Bending Moment | N·m | 38. |
| Length (No Brake / With Brake) | mm | 60±0.5/78.6±0.5 |
| Through-hole | mm | 6. |
| Weight (No Brake / With Brake) | Kg | 0.19/0.27 |
| Moment of Inertia (No Brake / With Brake) | g·cm² | 27.4/45.1 |
Storage & Operating Environment (General)
Extreme operating temperature: -40~70℃ (extremely low temperatures significantly increase joint friction; extremely high temperatures may trigger over-temperature alarm protection and shutdown)
Normal operating temperature: -10~45℃; storage temperature: -30~60℃
Operating & storage humidity: 20~80%RH (no condensation)
Vibration resistance: 24.5 m/s² (frequency 10~400Hz)
Environmental requirements: free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.; indoor use, avoid direct sunlight; air pressure: 86KPa~106KPa
