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Hobber | SKU:
Hobber HAG-11 Actuator
Regular price
$1,800.00
Unit price
Hobber HAG-11 Actuator - HAG-11N (CANopen) / Without Brake / 51 is backordered and will ship as soon as it is back in stock.
Delivery and Shipping
Delivery and Shipping
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Hobber HAG-11 Actuator
Regular priceFrom
$1,800.00
Unit price
Hobber HAG-11 Actuator - HAG-11N (CANopen) / Without Brake / 51 is backordered and will ship as soon as it is back in stock.
Product Information
Application Scenarios
Humanoid Robots
Robotic Arms
Exoskeletons
Quadruped Robots
AGV Vehicles
ARU Robots
Technical Specifications
| Parameter | Value |
|---|---|
| Gear Ratio | |
| Gear Ratio | 51 / 81 / 101 |
| DC Bus Voltage | |
| DC Bus Voltage | 48VDC |
| Performance & Electrical Ratings | |
| Peak Torque | 11.4 N.m (51) / 15 N.m (81) / 18 N.m (101) |
| Rated Torque | 4.6 N.m (51) / 6.2 N.m (81) / 7.3 N.m (101) |
| Maximum Speed | 88 rpm (51) / 56 rpm (81) / 45 rpm (101) |
| Rated Speed | 59 rpm (51) / 37 rpm (81) / 30 rpm (101) |
| Maximum Current | 3.35 Amps (51) / 2.78 Amps (81) / 2.67 Amps (101) |
| Rated Current | 1.50 Amps (51) / 1.28 Amps (81) / 1.20 Amps (101) |
| Torque Constant | 3.06 N.m/Amps (51) / 4.86 N.m/Amps (81) / 6.06 N.m/Amps (101) |
| Motor Phase-to-Phase Resistance | 2.56 Ohms (20°C) |
| Motor Phase-to-Phase Inductance | 1.8 mH |
| Motor Back-EMF Constant | 9.5 Vrms/krpm |
| Encoder & Positioning | |
| Encoder Type | Absolute BISS-C Protocol |
| Encoder Resolution (Output) | Single-turn 2° (1048576), Multi-turn 2° (4096) |
| Positioning Accuracy (Full Closed-Loop) | ≤75 Arcsec |
| Repeat Positioning Accuracy | ≤10 Arcsec |
| Mechanical Properties | |
| Tilt Stiffness | 8 x10⁶ N.m/rad |
| Torsional Stiffness | 0.46 x10⁶ N.m/rad (51) / 0.6 x10⁶ N.m/rad (81/101) |
| Holding Brake (Motor Side) | ≥0.2 N.m |
| Rotor Moment of Inertia (Without Brake) | 1.86×10⁻⁵ kg·m² |
| Rotor Moment of Inertia (With Brake) | 1.94×10⁻⁵ kg·m² |
| Mass (Without Brake) | 0.51 Kg |
| Mass (With Brake) | 0.55 Kg |
| Number of Motor Poles | 10 |
| Torque Sensor | |
| Rated Range | -25 ~ 0 ~ +25 Nm |
| Maximum Overload | 200% F.S. |
| Safe Overload | 150% F.S. |
| Zero-Point Temperature Drift | ±0.2% F.S. / 10°C |
| Sensitivity Temperature Drift | ±0.1% F.S. / 10°C |
| Force Resolution | <0.2% F.S. |
| Torque Fluctuation | <0.2 N.m |
| Nonlinearity Error | ±0.2% F.S. |
| Sampling Frequency | 8K kHz |
| Torque Control | |
| Input/Output Instructions | Torque/Speed Command |
| Control Method | PID and Feedforward |
| Reference Command | CANopen, EtherCAT |
| Performance | Refresh cycle 62.5µs (16kHz), force control bandwidth >20Hz, 360° force control, no end rotation, force accuracy <±1% F.S. |
| Communication Protocol | |
| Communication Protocol | EtherCAT (CIA402) / CANopen (CIA402) / CAN-FD |
| Debugging Interface | |
| Debugging Interface | USB: Access to position/speed/current loop data, real-time PID adjustment, driver status reading, variable load inertia identification |
| Motion Modes | |
| Motion Modes | Profile Torque, Profile Speed, Profile Position, Cyclic Synchronous Position/Speed/Current, Analog Current, Analog Speed, Homing |
| Protection Modes | |
| Protection Modes | Undervoltage, overvoltage, overcurrent / driver overtemperature / speed/current/position tracking error / synchronization error / communication error / homing failure |
| Ambient Conditions | |
| Ambient Conditions | Operating temp: 0~40°C / Storage: -20~60°C / Humidity: 20~80% RH (non-condensing) / Vibration: 24.5 m/s² (10~400 Hz) / Free from dust, metal particles, corrosive/flammable gases, oil mist / Indoor use, avoid direct sunlight / Altitude below 1000 m |
| Motor Insulation | |
| Insulation Resistance | 100 MΩ or higher (DC500V) |
| Dielectric Strength | AC1500V / 1 min |
| Insulation Class | Class F |
| Protection Rating | |
| Protection Rating | IP40 |