PRODUCT OVERVIEW

eRob110I

Equipped with HarmonicDrive

A compact, integrated rotary actuator

eRob110I integrates a servo motor, servo driver, dual absolute encoders, a cross-roller bearing, and an optional holding brake into a compact rotary actuator.

Equipped with a HarmonicDrive reducer for applications requiring precision gearing, high-stiffness support, and long service life.

Request a Quote View Specifications

eRob110I front three-quarter product photo

Outer Diameter: Ø110 mm
Through-Hole: Ø18 mm
Overall Length: 80.2 mm

CORE TRANSMISSION

Why HarmonicDrive

The HarmonicDrive reducer features a hollow structure and an integrated cross-roller bearing, combining a compact layout with precision gearing and load support.

Precision Gearing

Zero-backlash gearing provides a stable foundation for joint positioning.

Durability and Reliability

Approx. 14,000 hours Equivalent operation under rated conditions Validated at a test torque approximately 77.5% above rated torque.

High-Stiffness Support

High-stiffness gearing works with the cross-roller bearing to resist twisting under load and remain stable under off-center loads.

* The equivalent time is calculated from accelerated testing.

APPLICATION AND INTEGRATION

Built for system integration

eRob110I combines drive, sensing, and communication functions in a single rotary actuator and is available with either EtherCAT or CANopen communication. Both configurations also support Modbus-RTU communication via the RS485 interface. It can be flexibly integrated into surgical robots, humanoid robots, bioprocessing equipment, biomimetic robots, collaborative robots, warehouse and logistics robots, autonomous retail robots, and art installations.

General Parameters

General Parameters	eRob110I
Nominal Supply Voltage	48 VDC
Gearing	Zero-Backlash Gearing
Repeatability / Absolute Positioning Accuracy	±7 / ±15 arcsec
Output-Side Encoder Resolution	19 bit
Motor Rated Speed	3000 RPM
Output Shaft Bearing	High-Stiffness Cross-Roller Bearing
Weight (without / with holding brake)	2.57 kg / 2.68 kg

Torque Parameters

Torque Parameters	eRob110H120I
Gear Ratio	120
Rated Torque	87 N·m
Maximum Permissible Average Load Torque	140 N·m
Start/Stop Peak Torque	217 N·m
Maximum Permissible Momentary Torque	395 N·m

Horizontal comparison of a conventional joint layout and the compact integrated eRob layout

CUSTOMER VALUE

Why choose eRob

Plug-and-play integration, shorter integration cycles

Industrial-grade quality and reliability

Equipped with HarmonicDrive

Drive, feedback and support, integrated

EtherCAT / CANopen to suit your system

Compact size, high torque density

Optional holding brake

System-level matching for consistent performance

Model, drawings and delivered configuration matched item by item

INTERNAL COMPOSITION

Eight Core Components

Absolute Encoder for Motor; Multi-Turn Absolute Encoder for Output Shaft; Servo Motor; Strain Wave Gear Reducer; Servo Driver; Temperature Sensor; Holding Brake; Torque Sensor.

BENEFITS

Closed-Loop Architecture with Dual Absolute Encoders

The motor-side and output-side encoders capture position feedback separately, providing joint control with position data from both sides of the transmission.

Friction brake inside

Smooth, stable braking.
No gap; no backlash.
No movement required at power-on.
No wear and tear.
Can be used for emergency stopping.

SELECTION AND ORDERING

From Selection to Delivery

Each segment of the model number maps to a traceable product-configuration field. Confirm the configuration with the online selector, then complete delivery against the product drawing, quotation, and order documents.

Choose a Configuration

Select the reducer type, gear ratio, housing type, holding brake, control section, and communication fields.

Confirm the Model Number

Check the complete model number, reducer configuration, and gear ratio.

Obtain Documents

Confirm the available options against the product drawing, quotation, and order documents.

Complete Delivery

Complete configuration and delivery according to the final confirmed model number and order information.

Online Model Selector

Configuration Reference

eRob110H120I-FHS-18ET

eRob · Size 110 · Through-Hole Code 18

SHG-Series Reducer · 120:1 · Straight Cylindrical Housing · Without Holding Brake · High-Accuracy Single-Turn Absolute Encoder · EtherCAT · Dual-Encoder Differential-Measurement Torque Sensor

Model Codes and OptionsExplore each code in your current configuration

MODEL CODE GUIDE

Understand your configuration

eRob110H120I-FHS-18ET

Select a code to jump to its explanation. Illustrations follow the configuration above.

Product serieseRob: Prefix used for ZeroErr’s joint product series.
Size code110: Nominal joint outer-diameter codes in millimetres. Refer to the drawing for the actual dimensions of each model.
I-type codes describe the nominal outer diameter. Refer to the drawing for T-type housing dimensions.
Reducer typeH: F: SHD-series reducer, with a shorter axial length and lower weight than the H series; H: SHG-series reducer, with higher torque and load capacity than F.
Gear ratio120: Gear-ratio codes corresponding to 50:1, 80:1, 100:1, 120:1, or 160:1.
Housing typeI: I: straight cylindrical housing; T: trapezoidal housing. Refer to the drawing for the specific model's housing geometry.
Holding brakeF: F denotes without a holding brake; B denotes with a holding brake.
Output encoderHS: Output-side encoders: S: Single-Turn Absolute Encoder; M: Multi-Turn Absolute Encoder; HS: High-Accuracy Single-Turn Absolute Encoder; HM: High-Accuracy Multi-Turn Absolute Encoder.
Through-hole18: Through-hole diameter code; the current selection example corresponds to Ø18 mm.
CommunicationE: E denotes EtherCAT; C denotes CANopen.
Torque sensorT: N: no torque sensor; T: torque sensor based on differential measurement using dual encoders.