The SA series offers seven models: SA14, SA17, SA20, SA25, SA32, SA40, with 4 through-hole diameters: 8/11/12/16mm, to suit wild rated torques from 10Nm to 382Nm. All modules support the EtherCat communication protocol.
With a modular design, the drive, dual encoder, harmonic reducer, torque sensor, motor and brake are all packed into the joint module, and the module has been optimized to meet the existing technical specifications for collaborative robots, bionic robots, medical robots, humanoid robots and other applications, which can greatly shorten the product design time.
The key components (drive, motor and etc.) are highly integrated in a compact structure.
Internal redundant physical structural design ensures high-speed, high-precision, high-stability data sampling capability to meet the full range of force control application scenarios. Without the six-dimensional torque sensor assembled at the end, the external force detection of the robot drag teaching is more accurate, and the range of joint torque detection is larger, and the input torque detected can be directly used for overload detection of joints, with higher detection accuracy, effectively protecting the safety of staff and peripheral equipment.
An impressive performance: low rotational inertia, stable torque output, high peak torque, good dynamic response, An excellent design: small size and light weight, An ultimate optimization of performance.
Adopting double feedback system and 19-bit absolute encoders for motor and reducer output to ensure high positioning accuracy.
Providing over-current protection, over-voltage protection, low-voltage protection, over-temperature protection, PWM dead time protection, PWM shoot through protection, etc. to effectively reduce the damage to the joint electrical components and mechanical structure.
DC48V power supply, EtherCat communication interface, fewer electrical cables, convenient connection, servo communication frequency up to 4kHZ.
Supports multiple control modes such as position mode, speed mode, torque mode, etc., and the modes can be switched freely.
| Model |  SA14 |
 SA17 |
 SA20 |
 SA25 |
 SA32 |
 SA40 |
|---|---|---|---|---|---|---|
| Basic Performance | ||||||
| Rated torque (Nm) | 10 | 31 | 52 | 87 | 178 | 382 |
| Allowable max torque for start/stop (Nm) | 36 | 70 | 107 | 217 | 459 | 841 |
| Allowable max instantaneous torque (Nm) | 70 | 143 | 191 | 395 | 892 | 1530 |
| Max torque at average load (Nm) | 14 | 51 | 64 | 140 | 281 | 586 |
| Rated speed (rpm) | 49.5 | 34.6 | 34.6 | 28.9 | 24.7 | 18.6 |
| Max speed (rpm) | 56 | 44 | 39.8 | 30 | 31 | 18.6 |
| Positioning accuracy (deg) | +/-0.01 | |||||
| Electrical Performance | ||||||
| Rated power (W) | 159 | 183 | 366 | 732 | 1000 | 1257 |
| Rated voltage (VDC) | 48 | 48 | 48 | 48 | 48 | 48 |
| Rated current (A) | 4.4 | 5 | 9.7 | 16 | 27 | 27 |
| Peak current (A) | 13.6 | 15 | 29.1 | 48 | 89 | 72 |
| Communication protocol | EtherCAT,CiA402 | |||||
| Mechanical Performance | ||||||
| Through hole diameter (mm) | 8 | 11 | 8 | 12 | 16 | 16 |
| Gear ratio | 101 | 101 | 101 | 121 | 121 | 161 |
| Encoder | Dual absolute magnetic encoder, output resolution 19Bits | |||||
| Brake | Electromagnetic friction type | |||||
| IP classification | IP54 | |||||
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Welding
Palletizing
Screwdriving
Machine tending
Glue
Vision inspection
Fluctuating force control test
