Y Series Robot Joint Module

This series of joint modules is a super flat brushless DC drive that combines a brushless DC motor with a high performance reducer. The combination of small brushless DC motor with high output power and high performance harmonic reducer realizes a flat and lightweight brushless DC transmission device.This series products have outer diameters of 70,80,90,110, etc. The power supply voltage supports DC24V and DC48V. It can be used for a variety of purposes such as wheel drive of unmanned truck and wearable power robot.

Model		Y14-XX-X-X-X				Y17-XX-X-X-X				Y20-XX-X-X-X				Y25-XX-X-X-X
Whole parameter	Rated voltage(V)	18-24(rated 24V)				36-48(rated 48V)				36-48(rated 48V)				36-48(rated 48V)
	Rated current(A)	2				4				5				5
	Peak current(A)	5.1				9				11				11
	Output speed range(RPM)	0~55	0~32	0~20	0~16	0~66.6	0~40	0~25	0~20	0~66.6	0~40	0~25	0~20	0~66.6	0~40	0~25	0~20
	Output peak speed(RPM)	75	44	28	22	83	50	32	25	83	50	32	25	83	50	32	25
	Dimension（OD*H）(mm)	70*83.8				80*97.8				90*110				110*108.5
	Weight(kg)	0.7				1.3				1.7				2.3
Reducer parameter	Reduction ratio	30	50	80	100	30	50	80	100	30	50	80	100	30	50	80	100
	Rated output torque(＠48V)(NM)	5	7	10	14	13	21	34	43	20	44	61	64	27	52	73	91
	Instantaneous maximum allowable torque(＠48V)(NM)	15	25	30	46	40	63	101	122	50	127	165	170	63	115	160	210
	Backlash（arcsec）	<20				<20				<20				<20
Motor parameter	Toraue(NM)	0.2				0.6				0.9				1.2
	Rated speed(RPM)	1600				2000				2000				2000
	Max. speed(RPM)	2200				2500				2500				2500
	Power(W)	35				150				200				250
Encoder parameter	Type	18-bit resolution multi-turn absolute encoder (motor end)				18-bit resolution multi-turn absolute encoder (motor end)				18-bit resolution multi-turn absolute encoder (motor end)				18-bit resolution multi-turn absolute encoder (motor end)
	Whether the driver board is integrated with an encoder	Yes				Yes				Yes				Yes
	Install way	Shaft mounting				Shaft mounting				Shaft mounting				Shaft mounting
	Resolution（bit）	18				18				18				18
	Angular output delay(us)	2				2				2				2
communication interface	mode	CAN/RS485				CAN/RS485				CAN/RS485				CAN/RS485
	Baud rate(bps)	optional				optional				optional				optional
Brake	/	No				Yes				Yes				Yes
Protect function	/	Over voltage/Under voltage/Over current/over temperature (optional)/blocking protection/power failure memory				Over voltage/Under voltage/Over current/over temperature (optional)/blocking protection/power failure memory				Over voltage/Under voltage/Over current/over temperature (optional)/blocking protection/power failure memory				Over voltage/Under voltage/Over current/over temperature (optional)/blocking protection/power failure memory