1
of
10
Hobber | SKU:
Hobber HAG-40 Actuator
Regular price
$4,400.00
Unit price
Hobber HAG-40 Actuator - HAG-40N (CANopen) / Without Brake / 51 is backordered and will ship as soon as it is back in stock.
Delivery and Shipping
Delivery and Shipping
- We automatically select the most cost-effective carrier from China for each destination country
- Shipping rates are dynamically calculated based on real-time quotes
- Final rates may vary due to promotional offers or carrier adjustments
Hobber HAG-40 Actuator
Regular priceFrom
$4,400.00
Unit price
Hobber HAG-40 Actuator - HAG-40N (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 / 121 / 161 |
| DC Bus Voltage | |
| DC Bus Voltage | 48 VDC |
| Performance & Electrical Ratings | |
| Peak Torque | 405 N.m (51) / 641 N.m (81) / 702 N.m (101) / 762 N.m (121) / 800 N.m (161) |
| Rated Torque | 216 N.m (51) / 345 N.m (81) / 430 N.m (101) / 515 N.m (121) / 557 N.m (161) |
| Maximum Speed | 49 rpm (51) / 31 rpm (81) / 25 rpm (101) / 21 rpm (121) / 16 rpm (161) |
| Rated Speed | 35 rpm (51) / 22 rpm (81) / 18 rpm (101) / 15 rpm (121) / 11 rpm (161) |
| Maximum Current | 59.62 Arms (51) / 59.41 Arms (81) / 52.18 Arms (101) / 47.28 Arms (121) / 37.30 Arms (161) |
| Rated Current | 31.80 Arms (51) / 31.98 Arms (81) / 31.96 Arms (101) / 31.95 Arms (121) / 25.97 Arms (161) |
| Torque Constant | 6.79 N.m/Arms (51) / 10.79 N.m/Arms (81) / 13.45 N.m/Arms (101) / 16.12 N.m/Arms (121) / 21.45 N.m/Arms (161) |
| Motor Phase‑to‑Phase Resistance | 0.05 Ohms (20°C) |
| Motor Phase‑to‑Phase Inductance | 0.35 mH |
| Motor Back‑EMF Constant | 13.5 Vms/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(default), customisable unidirectional ≤20 Arcsec |
| Repeat Positioning Accuracy | ≤10 Arcsec |
| Mechanical Properties | |
| Tilt Stiffness | 175 × 10⁶ N.m/rad |
| Torsional Stiffness | 14 × 10⁶ N.m/rad (51) / 18.6 × 10⁶ N.m/rad (81/101/121/161) |
| Holding Brake (Motor Side) | ≥6 N.m |
| Rotor Moment of Inertia (Without Brake) | 1.6 × 10⁻³ kg·m² |
| Rotor Moment of Inertia (With Brake) | 1.67 × 10⁻³ kg·m² |
| Mass (Without Brake) | 7.49 Kg |
| Mass (With Brake) | 7.8 Kg |
| Number of Motor Poles | 16 |
| Interfaces | |
| 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 |