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Hobber

Hobber HAG-32 Actuator

$3,600.00
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 / 101 / 161
DC Bus Voltage
DC Bus Voltage 48 VDC
Performance & Electrical Ratings
Peak Torque 218 N.m (51) / 380 N.m (101) / 430 N.m (161)
Rated Torque 124 N.m (51) / 247 N.m (101) / 300 N.m (161)
Maximum Speed 55 rpm (51) / 28 rpm (101) / 17 rpm (161)
Rated Speed 43 rpm (51) / 22 rpm (101) / 14 rpm (161)
Maximum Current 45.82 Arms (51) / 40.33 Arms (101) / 28.63 Arms (161)
Rated Current 23.98 Arms (51) / 24.12 Arms (101) / 18.38 Arms (161)
Torque Constant 5.17 N.m/Arms (51) / 10.24 N.m/Arms (101) / 16.33 N.m/Arms (161)
Motor Phase‑to‑Phase Resistance 0.067 Ohms (20°C)
Motor Phase‑to‑Phase Inductance 0.46 mH
Motor Back‑EMF Constant 10 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
Repeat Positioning Accuracy ≤10 Arcsec
Mechanical Properties
Tilt Stiffness 95 × 10⁶ N.m/rad
Torsional Stiffness 7.6 × 10⁶ N.m/rad (51) / 9.9 × 10⁶ N.m/rad (101/161)
Holding Brake (Motor Side) ≥4.2 N.m
Rotor Moment of Inertia (Without Brake) 8.84 × 10⁻⁴ kg·m²
Rotor Moment of Inertia (With Brake) 9.24 × 10⁻⁴ kg·m²
Mass (Without Brake) 4.57 Kg
Mass (With Brake) 4.8 Kg
Number of Motor Poles 16
Torque Sensor
Rated Range ‑500 ~ 0 ~ +500 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
Reference Command CANopen, EtherCAT
Performance Refresh cycle 62.5 µs (16 kHz), torque control bandwidth >20 Hz, supports 360° torque control, infinite end rotation, torque accuracy <±1% F.S.
IO Interface Two 24V IO inputs, two 24V IO outputs
Analog Interface ±10V analog interface
Communication Protocol EtherCAT (CIA402) / CANopen (CIA402) / CAN‑FD / 485‑Modbus
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) / 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 (DC 500 V)
Dielectric Strength AC 1500 V / 1 min
Insulation Class Class F
Protection Rating
Protection Rating IP40