| CRA-RI80-97-PRO-2-2E-EC Joint Module Performance Specifications |
| Parameter | Unit | Reduction Ratio 51 | Reduction Ratio 81 | Reduction Ratio 101 | Reduction Ratio 121 | Reduction Ratio 161 |
| Reduction Ratio |
| 51 | 81 | 101 | 121 | 161 |
| Peak Torque (Start/Stop) | N.m | 121. | 169. | 194. | 207. | 217. |
| Max. Permissible Average Load Torque (Robot) | N.m | 68.5 | 107. | 133. | 133. | 133. |
| Rated Torque at 2000rpm ÷ Reduction Ratio (Industrial) | N.m | 48. | 78. | 84. | 84. | 84. |
| Peak Output Speed | rpm | 65. | 43. | 36. | 30. | 22. |
| Rated Speed (at 1/2 Rated Torque) | rpm | 54. | 35. | 27. | 23. | 17. |
| Backlash | arcsec | 20. | 20. | 10. | 10. | 10. |
| Rated Power | W | 450. |
| Supply Voltage | V | 24-48 |
| Encoder Resolution | bit | 16/18 |
| Communication Bus | — | CAN/EtherCAT |
| Brake Torque (No Brake / With Brake) | N.m | 0/2 |
| Torsional Stiffness | 10^4 N/rad | 2.38 | 2.95 | 2.92 | 2.95 |
|
| Permissible Radial Load | KN | 19.34 |
| Permissible Axial Load | KN | 43.95 |
| Permissible Bending Moment | N·m | 710. |
| Length (No Brake / With Brake) | mm | 85.5±0.5/107±0.5 |
| Through-hole | mm | 27. |
| Weight (No Brake / With Brake) | Kg | 1.62/1.75 |
| Moment of Inertia (No Brake / With Brake) | g·cm² | 1532.07/1700.15 |
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
· No value is printed for reduction ratio 161 in the stiffness row in the original manual; the corresponding cell is left blank
