| CRA-RI70-90-PRO-2 Joint Module Performance Specifications |
| Parameter | Unit | Reduction Ratio 51 | Reduction Ratio 81 | Reduction Ratio 101 | Reduction Ratio 121 |
| Reduction Ratio |
| 51 | 81 | 101 | 121 |
| Peak Torque (Start/Stop) | N.m | 69. | 91. | 102. | 108. |
| Max. Permissible Average Load Torque (Robot) | N.m | 42. | 58. | 61. | 61. |
| Rated Torque at 2000rpm ÷ Reduction Ratio (Industrial) | N.m | 32. | 42. | 50. | 50. |
| Peak Output Speed | rpm | 77. | 48. | 40. | 30. |
| Rated Speed (at 1/2 Rated Torque) | rpm | 61. | 38. | 30. | 25. |
| Backlash | arcsec | 20. | 20. | 10. | 10. |
| Rated Power | W | 340. |
| Supply Voltage | V | 24-48 |
| Encoder Resolution | bit | 16. |
| Communication Bus | — | CAN |
| Brake Torque (No Brake / With Brake) | N.m | 0/1 |
| Torsional Stiffness | 10^4 N/rad | 1.24 | 1.52 | 1.52 | 1.52 |
| Permissible Radial Load | KN | 22. |
| Permissible Axial Load | KN | 50. |
| Permissible Bending Moment | N·m | 190. |
| Length (No Brake / With Brake) | mm | 73.5±0.5/92±0.5 |
| Through-hole | mm | 18. |
| Weight (No Brake / With Brake) | Kg | 1.27/1.5 |
| Moment of Inertia (No Brake / With Brake) | g·cm² | 596.4/746.7 |
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
Notes
· The with-brake model is printed as "CRA-RI70-90-PRO-2-XXX-B" in the original manual
