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Hobber

Hobber HAG-20 Actuator

$2,550.00
Version
Brake
Gear Ratio

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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 / 121
DC Bus Voltage
DC Bus Voltage 48 VDC
Performance & Electrical Ratings
Peak Torque 52 N.m (51) / 83 N.m (81) / 104 N.m (101) / 111 N.m (121)
Rated Torque 26 N.m (51) / 42 N.m (81) / 53 N.m (101) / 63 N.m (121)
Maximum Speed 98 rpm (51) / 62 rpm (81) / 50 rpm (101) / 41 rpm (121)
Rated Speed 59 rpm (51) / 37 rpm (81) / 30 rpm (101) / 25 rpm (121)
Maximum Current 17.01 Arms (51) / 17.09 Arms (81) / 17.18 Arms (101) / 15.30 Arms (121)
Rated Current 8.50 Arms (51) / 8.65 Arms (81) / 8.75 Arms (101) / 8.68 Arms (121)
Torque Constant 3.06 N.m/Arms (51) / 4.86 N.m/Arms (81) / 6.05 N.m/Arms (101) / 7.25 N.m/Arms (121)
Motor Phase‑to‑Phase Resistance 0.18 Ohms (20°C)
Motor Phase‑to‑Phase Inductance 0.45 mH
Motor Back‑EMF Constant 7.7 Vms/kpm
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 (default), customisable unidirectional ≤20 Arcsec
Repeat Positioning Accuracy ≤10 Arcsec
Mechanical Properties
Tilt Stiffness 24 × 10⁶ N.m/rad
Torsional Stiffness 1.8 × 10⁶ N.m/rad (51/81) / 2.3 × 10⁶ N.m/rad (101/121) (based on image order)
Holding Brake (Motor Side) ≥1 N.m
Rotor Moment of Inertia (Without Brake) 8.81 × 10⁻⁵ kg·m²
Rotor Moment of Inertia (With Brake) 9.47 × 10⁻⁵ kg·m²
Mass (Without Brake) 1.43 Kg
Mass (With Brake) 1.51 Kg
Number of Motor Poles 16
Torque Sensor
Rated Range ‑140 ~ 0 ~ +140 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 Nm
Nonlinearity Error ±0.2% F.S.
Sampling Frequency 8k kHz
Torque Control
Input/Output Instructions Torque / Speed Command
Control Method PID and Feedforward
Analog Interface CANopen, EtherCAT
Communication Protocol EtherCAT (CIA402) / CANopen (CIA402) / CAN‑FD / 485‑Modbus
Performance Refresh cycle 62.5 µs (16 kHz), force control bandwidth >20 Hz, supports 360° force control, infinite end rotation, force accuracy <±1% F.S.
Debugging Interface
USB Debugging 1. Open position, speed, current loop data and real‑time PID adjustment; 2. Driver status reading; 3. Variable load inertia identification
Motion Modes
Motion Modes 1. Profile Torque 2. Profile Speed 3. Profile Position 4. Cyclic Synchronous Position 5. Cyclic Synchronous Speed 6. Cyclic Synchronous Current 7. Analog Current 8. Analog Speed 9. Homing
Protection Modes
Protection Modes 1. STO (Safe Torque Off) 2. Undervoltage & overvoltage & overcurrent 3. Driver overtemperature 4. Speed tracking error 5. Current tracking error 6. Position tracking error 7. Synchronisation error 8. Communication error 9. Homing failure
Ambient Conditions
Ambient Conditions Operating temp: 0~40°C / Storage: ‑20~60°C / Humidity: 20~80% RH (non‑condensing) / Free from dust, metal particles, corrosive/flammable gases, oil mist / Vibration: 24.5 m/s² (10~400 Hz) / Indoor use, avoid direct sunlight / Altitude below 1000 m
Motor Insulation
Insulation Resistance 100 MΩ or higher (DC 500 V)
Dielectric Strength AC 1500 V / 1 min
Insulation Class Class F
Protection Rating
Protection Rating IP40