| CRA-RI40-52-PRO-2-2E-EC Joint Module Performance Specifications |
| Parameter | Unit | Reduction Ratio 51 | Reduction Ratio 101 |
| Reduction Ratio |
| 51 | 101 |
| Peak Torque (Start/Stop) | N.m | 8.3 | 11. |
| Max. Permissible Average Load Torque (Robot) | N.m | 5.5 | 8.9 |
| Rated Torque at 2000rpm ÷ Reduction Ratio (Industrial) | N.m | 3.5 | 5. |
| Peak Output Speed | rpm | 118. | 59. |
| Rated Speed (at 1/2 Rated Torque) | rpm | 80. | 40. |
| Backlash | arcsec | 40. | 30. |
| Rated Power | W | 50. |
| Supply Voltage | V | 24-48 |
| Encoder Resolution | bit | 16/18 |
| Communication Bus | — | CAN/EtherCAT |
| Brake Torque (No Brake / With Brake) | N.m | 0/0.15 |
| Torsional Stiffness | 10^4 N/rad | 0.22 | 0.27 |
| Permissible Radial Load | KN | 5.31 |
| Permissible Axial Load | KN | 10.59 |
| Permissible Bending Moment | N·m | 82. |
| Length (No Brake / With Brake) | mm | 64.5±0.5/85.5±0.5 |
| Through-hole | mm | 12. |
| Weight (No Brake / With Brake) | Kg | 0.37/0.46 |
| Moment of Inertia (No Brake / With Brake) | g·cm² | 85.14/94.52 |
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
