PH20
PH20
-81/121
PH20
-81/121
COSTR. proServo Joint
COSTR. ProServo Joint
Micro flexible servo robot joint with Harmonic Reducer.
PH20-81/121 Introduction [Unit: mm]
Diameter:
Φ90 mm
Length:
88.3 mm
Weight:
1991g
PH20-81/121 Introduction [Unit: mm]
Diameter:
Φ90 mm
Length:
88.3 mm
Weight:
1991g
Voltage and Current Parameters
Rated Speed:
No-load Speed:
Rated Torque:
Peak Torque:
PH20-81
40 rpm
45 rpm
52 Nm
104 Nm
PH20-12l1
26 rpm
30 rpm
78 Nm
156 Nm
Rated Voltage:
Rated Power:
Phase Current Full Scale:
Rated Bus Current:
Static Bus Current:
24-48 V
250 W
36.0 A
12.5 A
0.12 A
Basic Parameters
Motor Type:
Reducer type:
Hollow Inner Diameter:
Temperature Range:
Typical Noise Level:
Encoder Accuracy:
Reduction Ratio:
Reverse Backlash:
Brushless Servo Motor
Harmonic Reducer
18 mm
-20°C to +80°C
<= 70 dB (A)
19 bit
81:1 / 121:1
15 Arcsec
Micro Servo Joint System Overview
SDK Support
We provide application programming interfaces and log tools in different languages. If system developers want to control servo joints, they can work in the language environment commonly used by users or suitable for the project.
Supported Language:
MATLAB
Python
C++
ROS
Bus Adapter Board
The integrated servo joint adopts CAN2.0A for communication, and converts it into Ethernet bus through EC-CO to communicate with PC.
CAN
Two CAN2.0A maximum speed 1Mbps
10M/100M adaptive support TCP/UDP
Support secondary development firmware online upgrade
Power isolation isolation voltage 1000V
CAN Hardware Connection
Pin No.
Defined
Describe
1
PVDD
Power supply
2
GND
Power ground
3
PVDD
Power supply
4
GND
Power ground
5
5V
Standby power
6
CGND
CAN communication ground
7
CANL
CAN differential signal
8
CANH
CAN differential signal
Micro Servo Joint System Overview
SDK Support
We provide application programming interfaces and log tools in different languages. If system developers want to control servo joints, they can work in the language environment commonly used by users or suitable for the project.
Supported Language:
MATLAB
Python
C++
ROS
Bus Adapter Board
The integrated servo joint adopts CAN2.0A for communication, and converts it into Ethernet bus through EC-CO to communicate with PC.
CAN
Two CAN2.0A maximum speed 1Mbps
10M/100M adaptive support TCP/UDP
Support secondary development firmware online upgrade
Power isolation isolation voltage 1000V
CAN Hardware Connection
Pin No.
Defined
Describe
1
PVDD
Power supply
2
GND
Power ground
3
PVDD
Power supply
4
GND
Power ground
5
5V
Standby power
6
CGND
CAN communication ground
7
CANL
CAN differential signal
8
CANH
CAN differential signal
Micro Servo Joint System Overview
SDK Support
We provide application programming interfaces and log tools in different languages. If system developers want to control servo joints, they can work in the language environment commonly used by users or suitable for the project.
Supported Language:
MATLAB
Python
C++
ROS
Bus Adapter Board
The integrated servo joint adopts CAN2.0A for communication, and converts it into Ethernet bus through EC-CO to communicate with PC.
CAN
Two CAN2.0A maximum speed 1Mbps
10M/100M adaptive support TCP/UDP
Support secondary development firmware online upgrade
Power isolation isolation voltage 1000V
CAN Hardware Connection
Pin No.
Defined
Describe
1
PVDD
Power supply
2
GND
Power ground
3
PVDD
Power supply
4
GND
Power ground
5
5V
Standby power
6
CGND
CAN communication ground
7
CANL
CAN differential signal
8
CANH
CAN differential signal
Empowering Smart, Practical Automation.
COSMOTR GLOBAL TECHNOLOGY SOLUTIONS PTY LTD
Email: info@cosmotrglobal.com
Level 16, 175 Pitt Street Sydney, NSW 2000 Australia
© 2025 Cosmotr Global Technolog Solutions Pty Ltd | ACN 123 456 789 | All rights reserved.
Empowering Smart, Practical Automation.
COSMOTR GLOBAL TECHNOLOGY SOLUTIONS PTY LTD
Email: info@cosmotrglobal.com
Level 16, 175 Pitt Street Sydney, NSW 2000 Australia
© 2025 Cosmotr Global Technolog Solutions Pty Ltd | ACN 123 456 789 | All rights reserved.
Empowering Smart, Practical Automation.
COSMOTR GLOBAL TECHNOLOGY SOLUTIONS PTY LTD
Email: info@cosmotrglobal.com
Level 16, 175 Pitt Street Sydney, NSW 2000 Australia
© 2025 Cosmotr Global Technolog Solutions Pty Ltd | ACN 123 456 789 | All rights reserved.