Specifications
This document provides the complete technical specification parameters for the Alius Robot Joint Module. All parameters are measured under standard test conditions; actual performance may vary depending on the operating environment and usage conditions.
Electrical Characteristics
Power Supply Parameters
| Parameter | Min | Typ | Max | Unit |
|---|
| Supply Voltage | 24 | 36 | 48 | VDC |
| Quiescent Current | — | 0.5 | 1.0 | A |
| Rated Operating Current | — | 5 | 15 | A |
| Peak Current | — | — | 30 | A |
| Insulation Resistance | 100 | — | — | MΩ |
Motor Parameters
| Parameter | Specification |
|---|
| Motor Type | Three-Phase Brushless DC Motor (BLDC) |
| Pole Pairs | 7 |
| Stator Resistance | 0.15 Ω (typical) |
| Stator Inductance | 0.45 mH (typical) |
| Rotor Moment of Inertia | Varies by model |
| Rated Speed | 3000 rpm (high-ratio models) |
Torque Characteristics
| Model | Continuous Torque | Peak Torque | Stall Torque |
|---|
| JM-50 | 15 N·m | 50 N·m | 20 N·m |
| JM-100 | 30 N·m | 100 N·m | 40 N·m |
| JM-200 | 60 N·m | 200 N·m | 80 N·m |
The above torque values are measured at the output shaft and already account for the transmission efficiency of the reduction mechanism.
Mechanical Characteristics
Structural Parameters
| Parameter | Specification |
|---|
| Reducer Type | Planetary Harmonic Reducer |
| Gear Ratio Options | 50:1 / 100:1 / 160:1 |
| Backlash | ≤ 1 arc-min (100:1 gear ratio) |
| Transmission Efficiency | ≥ 75% (under rated load) |
| Radial Load Capacity | 500 N (at 50mm from output flange) |
| Axial Load Capacity | 300 N |
| Weight | 0.8–2.5 kg (varies by model and gear ratio) |
Dimensional Specifications
The joint module adopts a standardized flange interface design, with industry-common mounting hole patterns on both the input and output sides. For specific dimensions, please refer to the mechanical drawings for each model (available for download from the Alius technical support website).
Key dimensional parameters:
- Input side mounting flange diameter: 60–100 mm depending on model
- Output side mounting flange diameter: 50–90 mm depending on model
- Total module length: 80–140 mm depending on model
- Output shaft diameter: 12–25 mm depending on model
Encoder Specifications
| Parameter | Specification |
|---|
| Encoder Type | 19-bit Absolute Encoder |
| Resolution | 524,288 counts/revolution (0.0015°/count) |
| Output Interface | Differential signal (RS-422) |
| Update Frequency | 1 MHz |
| Single-turn / Multi-turn | Single-turn absolute + electronic multi-turn |
| Zero-point Calibration | Software calibration supported |
The use of an absolute encoder eliminates the need for mechanical homing procedures after each power-up. The system can determine the current joint angle by reading the absolute encoder value, significantly reducing system startup time.
Communication Interface
CAN / CAN-FD Interface
| Parameter | Specification |
|---|
| Physical Interface | CAN Bus (ISO 11898-2) |
| Baud Rate | 1 Mbps (CAN) / up to 5 Mbps (CAN-FD) |
| Node ID Configuration | Software configurable, range 1–127 |
| Terminating Resistor | External 120Ω terminating resistor required |
| Connector Type | M8 5-pin Type A (female) |
Communication Protocol Features
- Supports standard CAN 2.0A (11-bit identifier) and CAN-FD frame formats
- Supports multi-node bus topology; up to 127 joint modules can be connected on a single bus
- Supports broadcast commands and unicast commands
- Built-in CRC verification and timeout detection mechanism
Environmental Specifications
| Parameter | Min | Typ | Max | Unit |
|---|
| Operating Temperature | -10 | 25 | 60 | °C |
| Storage Temperature | -40 | — | 85 | °C |
| Relative Humidity | 10 | — | 90 | % (non-condensing) |
| Protection Rating | IP54 | | | |
| Altitude | — | — | 3000 | m |
Certifications and Compliance
- CE Certification (in progress)
- RoHS 2.0 Compliant
- REACH Compliant
Detailed certification documents are available upon request from the Alius technical support team.