Erob Rotary Actuator User Manual V3.32

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cn
eRob 关节用户手册 V3.32

eRob Rotary Actuator User Manual V3.32
零差云控 ZeroErr www.zeroerr.cn
安全事项说明（务必遵守）
Safety Attention (Strict Adherence)
对本产品进行安装、操作、维护或检查之前，请仔细阅读本用户手册及其
附录。错误处理关节模组会对人员造成伤害或损坏财产。因此，操作人员必须
确保已阅读并理解本手册，请务必遵守本手册中的安全注意事项。
下面的标志定义了本手册中所包含的危险等级规定说明。
Read the manual and appendixes thoroughly before installing, operating,
maintaining, and checking the product. Mishandling of the rotary actuator can cause
injury to persons or damage to property. Hence, operators must ensure that they
have read and understood this manual and be sure to follow the safety attentions in
this manual.
The following symbols define the descriptions of the danger levels contained
in this manual.
 警告标志
Warning sign
危险:
Danger:
这指的是即将引发危险的用电情况,如果不避免,可
导致人员死亡或严重伤害。
This indicates an imminently hazardous electrical
usage situation which, if not avoided, could result in
death or serious injury.
深圳市零差云控科技有限公司
ZEROERR CONTROL CO.,LTD
危险:
Danger:
这指的是即将引发危险的情况，如果不避免，可导
致人员死亡或严重伤害。
This indicates an imminently hazardous situation
which, if not avoided, could result in death or serious
injury.
警告:
Warning:
这指的是可能引发危险的用电情况，如果不避免，
可导致人员伤害或设备严重损坏。
This indicates a potentially hazardous electrical
situation which, if not avoided, could result in
personal injury or serious equipment damage.
警告:
Warning:
这指的是可能引发危险的情况，如果不避免，可导
致人员伤害或设备严重损坏。
This indicates a potentially hazardous situation which,
if not avoided, could result in personal injury or
serious equipment damage.
警告:
Warning:
这指的是可能引发危险的热表面，如果接触了，可
造成人员伤害。
This indicates a hot surface that can create a hazard,
which if touched, could result in personal injury.
小心:
Caution:
这指的是一种情况，如果不避免，可导致设备损坏。
This refers to a situation which, if not avoided, could
result in equipment damage.
 以下操作会造成人身伤害
Avoid personal injury, read the catalog.
危险:
Danger:
1. 在操作本产品的力矩模式时，若上位控制器下发
目标指令不正确，可能导致意外飞车情况。请注意
在上位控制器和本产品驱动器设定适当的保护限
制，包括位置限制、速度限制和电流限制，以确保
设备和人身安全。
Avoid any incorrect target command when operating
the rotary actuator in torque mode. Set appropriate
protection limits on the host controller and the servo
driver, including position limit, speed limit and current
limit.
2、执行风险评估
Perform risk assessment
机器制造商必须对机器进行风险评估，并采取适当
措施来确保意外的移动不会造成任何人身伤害或财
产损失。通过风险评估，可能还会对专业人员提出
更多要求。
Machine manufacturers must perform risk assessment
on machine and take appropriate measures to ensure
unexpected movements will not result in any personal
injury or property damage. More demands may be
placed on professionals after risk assessment.
3、确保关节正确并安全地安装到位，不会有意外
坠落造成危险。我司不对因非正常操作造成的任何
损坏负责。
Make sure the rotary actuators are properly and
securely in place without the danger of accidental falls.
Our company is not responsible for any damage caused
by abnormal operation.
警告:
Warning:
1. 在试运行时，为防止意外事故的发生，请对关节
模组进行空载（不与传动轴连接的状态）试运行，
否则可能会导致受伤。
Put rotary actuator trial run under a no-load condition.
(Do not connect to drive shaft).
警告:
Warning:
1.当心高温表面
Beware of hot surfaces
电机在运行过程中，根据它们的防护类别，表面可
能会非常烫。表面温度会超过 85℃，当心轻度烧伤。
测量温度并等待，直到电机冷却到 40℃以下再去
触碰。
During operation of the motors, depending on their
ingress protection level, the surfaces can be very hot.
The surface temperature will exceed 85°C, beware of
minor burns. Measure the temperature and wait until
the motor cools below 40°C before touching it.
以下操作会造成模组损坏
Avoid damage to rotary actuator, read the catalog.
警告:
Warning:
1.请勿带电时插拔电源线。请确认 Power LED 指示
灯熄灭以后，再进行接线和检查作业。
Do not plug and unplug the power wire when the
power is on. Make sure that the wiring and inspection
work are performed after the Power LED indicator
turns off.
2.请勿带电时插拔 CAN 线。由于上位控制器与关节

两端的 CAN_GND 在没接线时电平可能不一样，在
接通的瞬间，两端 CAN_GND 之间的压差会导致
CAN 接口损坏。
Do not plug and unplug the CAN wires when the power
is on. Since the electrical level of the CAN_GND at
both ends of the upper controller and the actuator may
be different when they are not wired, the voltage
difference between the CAN_GND at both ends will
cause damage to the CAN interface at the moment of
connection.
3.未正确、牢固地连接电源端子（请按照本文档第 6
章节《电源端子受力说明》）。
Connect power terminals properly and securely. Refer
to Tensile force of power terminal in Chapter 6.
4.注意外壳接地防护
Pay attention to the grounding protection of the
housing.
eRob 关节外壳如不进行合理的接地处理，可能导致
外壳积累电荷而带电，应对外壳进行合理的接地处
理，详见本文档第七章《多关节模组间线缆连接》接
线图。
If the eRob rotary actuator housing is not properly
grounded, it may cause the housing to accumulate
charge and become charged. For details, refer to
Cable Wiring among Rotary Actuators in Chapter7.
5.多圈电池
Multiturn battery
带有多圈计数功能的关节，包装内附有电池，该电
池具有稳定的电压，-55℃~85℃的温度使用范围以及
十年以上的正常工作寿命。该电池缺失时请至
www.zeroerr.cn 购买，请勿使用其它型号电池，其它
电池可能导致关节故障，我司不对其它型号电池使
用提供技术支持。
A rotary actuator with multiturn counting function will
have an extra battery being packaged in the box, which
has a stable voltage, a temperature range of
-55℃~85℃, and a normal working life of more than
ten years. The battery is also available on our website
(https://en.zeroerr.cn/). Do not use other batteries other
than ZeroErr dedicated multiturn counting battery. We
do not afford technical support for other batteries.
6.注意技术数据
Pay attention to technical data
遵守有关连接条件的技术数据和规格（铭牌和文
档）。如果超过允许的电压值或电流值，则会损坏
电机，比如出现过热。
Comply with technical data and specifications
(nameplate and documentation). Exceeding the
permissible voltage value or current value will damage
the motor and appear abnormal phenomenon, such as
overheating.
警告:
Warning:
1.本产品为高精密设备，必须由专业人员进行安
装、调试，请勿自行拆解本产品，非正常使用本
产品导致产品故障将失去该产品保修权利。
Install and debug this high precision product by
professionals. Do not disassemble the unit product.
The warranty rights of the product will be lost if the
fault is caused by improper use.
2.揭取本产品防撕保修标签将失去该产品保修权
利。
Do not remove the tear-proof warranty label.
Otherwise, the warranty rights of the product will be
lost.
3.安全使用环境
Safe operating environment
本产品防护等级为 IP54。
The ingress protection level of this product is IP54.
使用温度：0~60℃；保存温度：-30~60℃；
Operation temperature: 0~60℃;
Storage temperature:-30~60℃
极限工作温度：-40~70℃（温度过低时关节摩擦
力将明显增大，进而导致运行电流增大，温度过
高时易触发过温报警保护和停机动作）。
Extreme working temperature: -40~70 ℃ (Actuator
friction will increase significantly when the
temperature is too low, which will lead to an
increase in operating current, and it is easy to trigger
over-temperature alarm protection and shutdown
action when the temperature is too high).
使用、保存湿度：20%~80%RH（无结露）；
Use and storage humidity: 20% ~ 80%RH
(no condensation);
无粉尘、金属粉、腐蚀性气体、易燃性气体、油雾等。
No dust, metal powder, corrosive gas, flammable gas, oil
mist, etc.
4.确保运输关节时操作人员身体不过分负重，运输时
保持好原包装。使用适当的运输设备，应遵守所有地区
性和国家性的运输指南。我司不对因运输造成的任何损
坏负责。
Operator cannot be overloaded when transporting the
rotary actuator and keep the original packaging when
transportation. Use appropriate transportation equipment
and follow all regional and national transportation
guidelines. We are not responsible for any damage caused
by transportation.
5.请勿施加过大冲击（如敲击、碰撞、非正常装配），
否则会导致故障。
Do not exert strong shock to the parts and units (such as
knocking, bumping, abnormal assembly), otherwise it will
cause fault.
 以下操作会造成运行效果不及预期
Avoid the operation effect is not as expected, read the catalog.
1.锁螺丝时未按照螺丝扭矩标准锁紧或未使用对角的方法对螺丝进行锁紧。
Lock screws according to screw torque standard and use diagonal method.
2.放置于木桌上运行。
Do not place rotary actuator on a wooden table to run.
3.将关节安装在活动平台上（如地脚未紧固好）运行。
Do not install the rotary actuator on the movable platform to operate (such as the
platform feet without fastened).
警告:
Warning
1.每个 eRob 关节在出厂时都经历了严格的抖动和
噪声测试，如未能达到运行效果预期，请严格按
照第二十章《关节安装要求》进行装配。
Each eRob rotary actuator has undergone strict jitter
and noise tests before delivery. If it fails to meet
expected operation results, please assemble it
strictly in accordance with Chapter 20 Rotary
Actuator Installation Requirement.
2.将机器人安装在一个足够坚固的表面（如钢
板），此外该表面应没有震动。
Mount the robot on a sufficiently solid surface
without vibration (such as steel plates).
小心:
Caution
1. 悬空空载运行
Suspended and no-load operation
eRob 关节在空载运行也会产生发热，未完成实
际安装的模组会因热量无处扩散导致温度逐渐
上升，直至触发温度保护，请谨慎测试。
eRob rotary actuator will also generate heat when
running under no-load condition. The temperature
of the rotary actuator which has not been installed
actually will gradually increase due to nowhere
for heat diffusion, until the temperature protection
is triggered. Please test with caution.
悬空高速连续运行，在该场景下的过热并非模
组故障。模组正常安装即可，无需加装额外散
热的部件。
Overheating is not an actuator fault under a
suspended high-speed continuous operation.
Install the rotary actuator normally and do no need
to install additional cooling components.
2. 搅油噪音提示
Oil churning noise reminder
eRob 关节会在轴向水平静置一段时间后，在以
80%额定速度以上运行时，因油脂沉降分布不
均，出现轻微搅油噪声，该声音会在运行约 5
分钟左右后随运转后油脂逐渐均匀分布自然消
失。
该噪声特点是：
①静置至冷机后以高速运行时出现；
②竖直状态噪声小于水平状态；
③高温时噪声小于温度低时；
④低速噪声小于高速时；
⑤该声音在运行约 5 分钟后会自然消失。
该噪声并非关节故障，请放心使用。
After the eRob rotary actuator rests horizontally
in the axial direction for a period, there will be a
slight oil churning noise due to the uneven
distribution of grease sedimentation when running
at a speed above 80% of the rated speed. The
sound will disappear naturally when the
distribution of grease gets even after the rotary
actuator runs for about 5 minutes. The
characteristics of the noise are:
①it appears when running at a high speed after
keeping in a static state to cool down;
②the noise in the vertical state is lower than that
of in the horizontal state;
③the noise at high temperature is lower than that
of when the temperature is low;
④the noise at a low speed is lower than that of at
a high speed;
⑤it will disappear naturally after running for
about 5 minutes. This noise is not an actuator
fault, please rest assured to use.
目录 CONTENTS
安全事项说明（务必遵守） ........................................................................................II
Safety Attention (Strict Adherence) .............................................................................. II
第一章 eRob 简介 .......................................................................................................... 1
Chapter 1 eRob Introduction ...........................................................................................1
1.1 关于本手册 .......................................................................................................... 1
About the manual ........................................................................................................ 1
1.2 eRob 产品简介 ......................................................................................................1
Introduction of eRob series .........................................................................................1
第二章包装及配件 ....................................................................................................... 3
Chapter 2 Packaging and Accessories ............................................................................3
2.1 产品包装 .............................................................................................................. 3
Packaging ..................................................................................................................... 3
2.2 包装清单 .............................................................................................................. 3
Packaging list ...............................................................................................................3
第三章关节基本参数 ................................................................................................... 4
Chapter 3 Rotary Actuator Parameters ...........................................................................4
第四章 eRob 输入电源说明 ....................................................................................... 14
Chapter 4 eRob Input Power Instruction ..................................................................... 14
4.1 电源电压和电流额定值 ................................................................................... 14
Power supply voltage and rated current value ........................................................ 14
4.2 eRob 能容许的最高输入电压 ...........................................................................15

eRob permissible maximum input voltage .............................................................. 15
4.3 eRob 能容许的最低输入电压 ...........................................................................19
eRob permissible minimum input voltage ...............................................................19
第五章关节正转方向 ................................................................................................. 22
Chapter 5 Rotary Actuator Positive Rotation .............................................................. 22
第六章电气接口和指示灯说明 ................................................................................ 23
Chapter 6 Electrical Interface and Status Indicator LED ........................................... 23
6.1 指示灯功能 ........................................................................................................ 23
Indicator LED function ............................................................................................. 23
6.2 CAN 通信接口 ....................................................................................................26
CAN communication interface .................................................................................26
6.3 EtherCAT 通信接口 ........................................................................................... 27
EtherCAT communication interface .........................................................................27
6.4 多圈供电电池接口 ............................................................................................28
Multiturn power supply battery interface ................................................................ 28
6.5 48V 供电电源接口 .............................................................................................29
48V power supply interface ......................................................................................29
6.6 I/O 信号端子 .......................................................................................................30
I/O signal terminal .....................................................................................................30
6.7 连接器受力说明 ................................................................................................32
Force instruction of connector ..................................................................................32
6.8 电源端子受力说明 ............................................................................................34
Force instruction of power terminal .........................................................................34
第七章多关节模组间线缆连接 ................................................................................ 36

Chapter 7 Cable Wiring among Rotary Actuators .......................................................36
7.1 电源接线方式说明 ............................................................................................38
Power wiring methods introduction .........................................................................38
7.1.1. 协作机械臂电源接线推荐示例 .............................................................. 40
Examples of collaborative robot power wiring ...................................................40
7.2 CAN/CANopen 通信接线图 ..............................................................................43
CAN/CANopen communication wiring diagram ....................................................43
7.3 EtherCAT 通信接线图 ....................................................................................... 45
EtherCAT communication wiring diagram ..............................................................45
7.4 Modbus-RTU 通信接线图 ................................................................................. 46
Modbus-RTU Commnucation Wiring Diagram ...................................................... 46
7.5 I/O 信号端子接线图 .......................................................................................... 48
I/O signal terminal wiring diagram ..........................................................................48
7.6 线缆规格说明 .................................................................................................... 50
Cable specifications .................................................................................................. 50
第八章重要的制动器使用说明 ................................................................................ 52
Chapter 8 Brake Instruction ..........................................................................................52
8.1 使用说明及注意事项 ........................................................................................52
Instruction and caution ..............................................................................................52
8.2 关于制动器的寿命 ............................................................................................54
Brake lifespan ............................................................................................................ 54
8.2.1. 开合次数 .................................................................................................... 54
Brake opening and closing times ......................................................................... 54
8.2.2. 闭合时，强制拖动次数 ........................................................................... 54
When brake engaged,the number of forced drags .............................................. 54

8.3 非使能状态，强制开启制动器操作方法 ...................................................... 56
Operation method of forcily opening the brake(Non-enabled state) .....................56
8.3.1. 上位机软件操作 ....................................................................................... 56
PC software operation ...........................................................................................56
8.3.2. EtherCAT 操作 ........................................................................................... 58
EtherCAT operation .............................................................................................. 58
8.3.3. CANopen 操作 ........................................................................................... 60
CANopen operation .............................................................................................. 60
8.4 制动器异常判断方法 ........................................................................................62
Abnormal brake judgement ...................................................................................... 62
第九章回收动能的处理 .............................................................................................64
Chapter 9 Kinetic Energy Recovery .............................................................................64
9.1 回收动能产生原因分析 ................................................................................... 64
Analysis of the cause of kinetic energy recovery ................................................... 64
9.2 处理方法 ............................................................................................................ 65
Solutions .....................................................................................................................65
9.2.1. 加泄放电阻 ................................................................................................65
Add leak resistor ........................................................................................................65
9.2.2. 加超级电容 ................................................................................................67
Add super capacitor ...................................................................................................67
9.2.3. 加蓄电池 .................................................................................................... 68
Add storage battery ................................................................................................... 68
第十章编码器和位置反馈 .........................................................................................69
Chapter 10 Encoder and Position Feedback ................................................................ 69
10.1 编码器分辨率和单圈位置反馈 .....................................................................69

Encoder resolution and singleturn position feedback .............................................69
10.2 关节的位置反馈 ..............................................................................................70
Position feedback of rotary actuator ........................................................................ 70
10.3 使用单圈功能的关节位置和注意事项 ........................................................ 72
Position and cautions of rotary actuator with singleturn function .........................72
10.4 使用多圈功能的关节位置和注意事项 ........................................................ 72
Position and cautions of rotary actuator with multiturn function ..........................72
10.5 机械零点标定功能使用说明 ......................................................................... 74
Instruction of zero position calibration function .................................................... 74
10.5.1 单圈关节机械零点标定功能 ..................................................................74
Zero position calibration function of singleturn rotary actuator ....................... 74
10.5.2 多圈关节机械零点标定功能 ...................................................................76
Zero position calibration function of multiturn rotary actuator ........................ 76
10.6 位置保护功能使用说明 ................................................................................. 79
Instruction of position protection function ..............................................................79
第十一章多圈供电电池说明 .................................................................................... 83
Chapter 11 Multiturn Power Supply Battery Instruction ............................................83
11.1 电池作用 .......................................................................................................... 83
Function of battery .................................................................................................... 83
11.2 电池使用注意事项 ..........................................................................................83
Cautions on battery usage .........................................................................................83
11.3 多圈功耗 .......................................................................................................... 84
Power consumption of multiturn ..............................................................................84
11.4 电池相关报错处理 ..........................................................................................86
Battery related errors handling .................................................................................86

第十二章多圈编码器电池欠压报警功能说明（带多圈版本） .......................... 90
Chapter 12 Instruction of Battery Undervoltage Warning of Multiturn Encoder —

Multiturn Version ...........................................................................................................90
12.1 48V 电源从关闭到已启动时的状态（01） ..............................................91
The status when 48V power supply from off to on (01) .....................................91
12.2 48V 电源已启动时的状态（1） ....................................................................92
The status when the 48V power supply has been activated ................................... 92
12.3 48V 电源启动到关闭再启动时的状态（101） ....................................93
The status when 48V power supply from startup to close to restart- up (101)93
第十三章减速比的解析 .............................................................................................95
Chapter 13 Gear Ratio Analysis ................................................................................... 95
第十四章连接调试上位机 .......................................................................................100
Chapter 14 PC Connection and Debugging ...............................................................100
第十五章关节试运行 ...............................................................................................103
Chapter 15 Trial Run for Rotary Actuator .................................................................103
第十六章带负载后的 PID 整定 ..............................................................................107
Chapter 16 PID Tuning with Load ............................................................................. 107
16.1 速度环调节 .................................................................................................... 107
Speed loop adjustment ............................................................................................ 107
16.2 位置环调节 .................................................................................................... 110
Position loop adjustment .........................................................................................110
16.3 EtherCAT 动态修改 PID 功能 ...................................................................... 112
EtherCAT dynamically modify PID function ........................................................112

第十七章特殊功能说明 ...........................................................................................115
Chapter 17 Special Function Introduction .................................................................115
17.1 PDO 动态配置功能 ........................................................................................115
PDO dynamic configuration ................................................................................... 115
17.2 可变积分上限的 PID 控制功能 .................................................................. 116
PID control function of variable integral upper limit ...........................................116
第十八章各方向受力允许值 ...................................................................................117
Chapter 18 Permissible Forces in All Directions ...................................................... 117
18.1 弯矩受力计算 ................................................................................................ 117
Bending force calculation ....................................................................................... 117
18.2 eRob 关节承载能力值 ................................................................................... 119
eRob rotary actuator bearing capacity ................................................................... 119
18.3 减速机棘爪扭矩 ............................................................................................120
Ratcheting torque .................................................................................................... 120
第十九章关节安装要求 ...........................................................................................124
Chapter 19 Rotary Actuator Installation Requirements ............................................124
19.1 连接法兰止口要求 ........................................................................................125
Seam allowance requirement of flange connection .............................................. 125
19.2 螺丝锁紧手法 ................................................................................................126
Screw locking method .............................................................................................126
19.3 螺丝扭矩标准 ................................................................................................127
Screw torque standard .............................................................................................127
19.4 常见的非正常安装 ........................................................................................127
Common improper installation ...............................................................................127

19.5 严格清洁安装表面 ........................................................................................129
Clean mounting face strictly ...................................................................................129
第二十章固件版本升级 ...........................................................................................130
Chapter 20 Firmware Version Upgrade ..................................................................... 130
20.1 CANopen 固件升级 ....................................................................................... 132
CANopen firmware upgrade ...................................................................................132
20.2 EtherCAT 固件升级 ....................................................................................... 133
EtherCAT firmware upgrade ...................................................................................133
第二十一章恢复出厂参数功能 .............................................................................. 135
Chapter 21 Restoring Factory Parameter Function ...................................................135
第二十二章扭矩传感器 ...........................................................................................137
Chapter 22 Torque Sensor ...........................................................................................137
第二十三章安全转矩关闭(STO)功能使用说明 ................................................... 145
Chapter 23 Safe Torque Off (STO) Function Instruction .........................................145
23.1 STO 功能配置 ................................................................................................ 146
STO function configuration ....................................................................................146
23.1.1 一路 STO 功能配置 ...............................................................................146
One STO branch circuit function configuration ................................................... 146
23.1.2 两路 STO 功能配置 ................................................................................147
Two STO branch circuits function configuration ................................................. 147
第二十四章关于使用寿命 .......................................................................................149
Chapter 24 Life of Rotary Actuator ........................................................................... 149
第二十五章脉冲+方向控制使用说明 ....................................................................152

Chapter 25 Instruction of Pulse Direction Control Mode ........................................ 152
25.1 脉冲+方向控制参数配置 .............................................................................152
Parameter configuration of pulse direction control mode ....................................152
25.2 脉冲+方向运动控制 ...................................................................................... 156
Pulse direction motion control ............................................................................... 156
第二十六章输出特性曲线 .......................................................................................160
Chapter 26 Output Characteristic Curve ....................................................................160
26.1. 关节模组电机电流-输出扭矩-转速曲线 .................................................. 160
eRob motor current-output torque-rotational speed curves ................................. 160
26.2 关节模组电机参数 .........................................................................................165
eRob rotary actuator motor parameter ...................................................................165
26.2.1 模组版本识别 ..........................................................................................165
eRob rotary actuator version identification ...........................................................165
26.2.2 电机参数 .................................................................................................. 166
Motor parameter ..................................................................................................166
26.3 关节模组扭矩-转速曲线 ...............................................................................171
Torque - rotational speed curves of rotary actuator ..............................................171
26.4 关节模组母线电流-输出扭矩-转速曲线 .................................................... 173
eRob bus current-output torque-rotational speed curve ....................................... 173
第二十七章故障排查说明 .......................................................................................175
Chapter 27 Troubleshooting Instruction .................................................................... 175
27.1 CAN 通信异常的排查步骤 ...........................................................................178
Abnormal CAN communication troubleshooting steps ........................................178
27.1.1 上位机“连接测试”时提示：请检查驱动器是否上电 ...................178

“Check whether the drive is powered on” window pops up when click “connect”
for test in the host computer ...................................................................................178
27.1.2 上位机连接测试识别 CANID 数量少于实际连接数量 ................... 182
The number of CANID identified by the host computer connection test is less
than the actual CANID number of connection ......................................................182
27.1.3 上位机状态监控界面数据显示跳变异常 ...........................................183
The data displayed on “Status Monitor” interface jumps abnormally when the
host computer is connected. ................................................................................... 183
第二十八章关于刚性 ...............................................................................................185
Chapter 28 About Rigidity ..........................................................................................185
28.1 刚性 .................................................................................................................185
Rigidity .....................................................................................................................185
28.2 扭转量的计算示例 ........................................................................................187
Example of calculating torsional quantity .............................................................187
28.3 滞后损失 ........................................................................................................ 189
Hysteresis loss ......................................................................................................... 189
28.4 齿隙 .................................................................................................................189
Backlash ................................................................................................................... 189
第二十九章通过外力反驱拖动关节的说明 ......................................................... 191
Chapter 29 Instructions for backdriving eRob by external force ............................ 191
附录 1 多圈供电电池相关安全注意事项 ...............................................................193
Appendix 1 Safety Precautions for Multiturn Power Supply Batteries ...................193
附录 2 错误代码及处理 ............................................................................................196
Appendix 2 Error Codes and Suggestions ................................................................. 196

第一章 eRob 简介
Chapter 1 eRob Introduction

1.1 关于本手册
About the manual
本手册介绍深圳市零差云控科技有限公司研发、设计、生产的 eRob 系列
机器人关节使用参数、安全范围、使用方法、注意事项等信息，请务必仔细阅
读后再上手操作。
The manual introduces the parameters, safety ranges, application methods and
safety attentions of eRob rotary actuators designed, developed, and manufactured
by ZeroErr. Please read the manual carefully before performing any operation.
1.2 eRob 产品简介

Introduction of eRob series
eRob 系列是零差云控在多年为客户服务经验前提下，以自有的伺服驱动器
和绝对值编码器基础上进行延伸，推出的标准化关节模组产品，让机器人开发
更简单、更快捷、更安全。
eRob 系列有 eRob70、eRob80、eRob90、eRob110、eRob142、eRob170 等
型号，设计精巧、结构紧凑，小巧体积中包含伺服驱动器、电机端绝对值编码
器、输出端绝对值编码器、无框力矩电机、制动器、精密谐波减速机等主要部
件（如图 1-1），为客户省去上百种机械电子器件选型、设计、采购、组装的
人力和时间成本。
eRob series is a standardized rotary actuator launched by ZeroErr based on its
own servo drive and absolute encoder under the premise of years of customer
深圳市零差云控科技有限公司第 1 页 Page 1
service experience, making robot development easier, faster, and safer.
eRob series includes eRob70, eRob80, eRob90, eRob110, eRob142, eRob170
etc., with precise design and compact structure. The rotary actuator consists of
servo drive, absolute encoder for motor, absolute encoder for output shaft, servo
motor, friction brakes, precision harmonic gear and other main components, (as
shown in Fig. 1-1), saving labor force and time cost of selecting, designing,
purchasing, and assembling hundred kinds of mechanical and electronic devices for
customers.
Absolute encoder for motor
Multiturn absolute encoder for output shaft
Servo motor
Precision harmonic gear
Servo driver Friction brakes

Temperature sensor
Virtual torque sensor on output shaft
图 1-1 eRob 爆炸图
Fig. 1-1 eRob exploded views
第 2 页 Page 2 深圳市零差云控科技有限公司
第二章包装及配件
Chapter 2 Packaging and Accessories

2.1 产品包装
Packaging
本产品发货均为快递，采用纸盒包装，内有按产品尺寸定制泡沫防护，保
证产品安全。
The product is packaged in a carton box with customized foam protection to
ensure product safety, and delivered by express.
2.2 包装清单
Packaging list
1.eRob 关节 *1 台
2.48V 电源接插件（2 Pin）* 2 个
3.CANopen 接插件及配线（3 Pin）* 2 条
4.EtherCAT 接插件及配线（4Pin）* 2 条
5.I/O 接插件及配线（12Pin）* 1 条（选配）
1.eRob rotary actuator *1 set
2.48V power connector (2 pin) * 2 pcs
3.CANopen connector with wire (3 Pin) * 2 strips
4.EtherCAT connector with wire (4 Pin) * 2 strips
5.I/O connector with wire (12Pin) * 1 strip (optional）
第三章关节基本参数
Chapter 3 Rotary Actuator Parameters

eRob 系列关节型号说明如图 3-1。
eRob series rotary actuator model is shown in Fig. 3-1.
图 3-1 关节型号说明
Fig. 3-1 Rotary actuator model instruction
关节产品型号参数剖析（以 eRob70F100I-BM-18EN 为例）。
The type of ZeroErr products are indicated by the following models and
symbols. (Example:eRob70F100I-BM-18EN)
表 3-1 产品型号参数剖析表
Table 3-1 Models and symbols of eRob rotary actuator
参数说明
Parameter Description
零差云控关节系列。
eRob
ZeroErr eRob Series
I 型关节的外部最大处的直径，以 mm 为单位。T 型外径略大于该值，详
见图纸。
70 Outer diameter (unit:mm) of I-type rotary actuator.
The outer diameter of T-type rotary actuator is larger. Refer to the drawings for
more details.
表示减速机类型：
F 使用的是扁平型 SHD 系列减速机；H 使用的是 SHG 系列减速机。
F 系列拥有更短的尺寸，更轻的重量；H 系列拥有更大的功率、转速和承
载能力。
F Type of gear.
“F” indicates the eRob is equipped with the SHD series flat harmonic gear;
“H” indicates the eRob is equipped with the SHF series harmonic gear.
eRob with F series gear is shorter and lighter; eRon with H series has larger
power, rotational speed and load capacity.
减速比也称速比。速比由柔轮和刚轮的齿轮数决定。当输出端转过一圈时，
电机端转过减速比+1 圈。
100 Gear ratio.
The gear ratio is depended by the number of the teeth of flexspline and circular
spline. When the output rotates 1 turn, the motor rotates (gear ratio+1) turns.
即直筒型关节，目前我司有 I 型和 T 型关节。二者除外壳安装方式不同
外，其他参数均相同。
Model I type.
I
ZeroErr has two types of rotary actuator at present, I-type rotary actuator and
T-type rotary actuator. All the parameters of these two types are the same
except for the installation method of the housings.
B 表示该关节带制动器，F 表示不带制动器。制动器可以在关节未通电时，
保持锁定状态。
eRob 关节采用摩擦式制动保持器，停机无晃动，开机无抖动。可实现满
负载零速启动。运行无磨粉，转动无噪音，耐受 100%全速重载急停。
With brake.
B
“B” indicates the eRob with brake. “F” indicates the eRob without brake.
The brake can make the eRob keep locking when it is not powered on.
The eRob adopts friction brake which is smooth and stable, with no gap and
backlash. It does not need to move when powering on. It is no wear and tear,
and can be used as emergency stop.
指输出端编码器配置：
(M) 输出端为多圈绝对值编码器 :可在未通电的情况下持续记录运行角
度，多圈功能需要电池并在包装内提供；
(S)输出端为单圈编码器:能提供输出端的角度绝对值。转过多圈时，断电
重启后，不记录圈数，即单圈关节正常供电时可记录多圈值，断电重启
后，多圈值丢失，恢复为单圈值；
(HM)输出端为高精度多圈绝对值编码器；
M
(HS)输出端为高精度单圈绝对值编码器；
HM/HS 输出端安装有高精度校准后的编码器。该版本是在装配完成后增
加了对整机装配误差的补偿，以及具有自动识别负载安装误差并且自动
补偿因不同负载引起的弹性变形误差，适用于对绝对精度要求很高的场
合；
HM/HS 型号可提供 20 位分辨率输出能力，重复/绝对精度为±7/±15 角
秒 * ；普通型号为 19 位分辨率，重复/绝对精度为±10/±25 角秒 * 。普通
版本即可满足常见工业机器人及自动化行业需求，如果您对绝对精度定
位要求较高，建议选择 HM/HS 版本。
Configuration of the output encoder.
“M” indicates the output encoder is the multiturn encoder which can record
the operating angle when the eRob is not powered on. The multiturn function
needs a multiturn battery packaged in the accessories kit.
“S” indicates the output encoder is the singleturn encoder which can offer the
absolute angle value of the output shaft. When it rotates more than 1 turn, it
will not record the turn number after powering off and restart. That is, the
singleturn rotary actuator can record turn number when powering on
normally but the turn number will be lost after powering off and restart, and
the multiturn data will return to the singleturn data.
“HM” indicates the high precision calibrated multiturn absolute encoder.
HS “indicates” the high precision calibrated singleturn absolute encoder.
“HM”/”HS” indicates the output encoders with high precision calibration.
This kind of eRob can offset the assembly error after assembly and
recognize load assembly error automatically and offset the elastic
deformation error caused by different load. This kind of eRob is suitable in
occasions requiring high absolute precision.
The HM/HS eRob can reach a 20-bit resolution output capability, and the
repeatability/absolute accuracy is ± 7/ ± 15 arc seconds *. The normal M/S
eRob can output with 19-bit resolution and the repeatability/absolute
accuracy is ± 10/ ± 25 arc seconds *. The M/S eRob can meet the needs of
common industrial robot and automation industry. If there is required for
higher absolute positioning precision , it is recommended to select HM/HS
eRob.
表示关节中间的通孔直径。
18
Hollow shaft diameter.
即关节的通信接口类型，有 EtherCAT(简写 E)与 CANopen(简写 C)两种。

EtherCAT 和 CANopen 关节均支持 RS485 接口的 Modbus 协议。
Type of communication protocol. There are two types communication
E
protocols, EtherCAT (abbr. E) and CANopen (abbr. C). The eRob with these
two types communication protocol can use Modbus protocol with connecting
RS485 interface.
N 表示无扭矩传感器，T 代表双编码器差值测量法的扭矩传感器，扭矩传
感器相关内容请参考本手册《第二十二章.扭矩传感器》。
N “N” indicates the eRob without sensor torque. “T” indicates the eRob with
sensor torque obtained by the difference value of dual encoders. More details
about sensor torque, please refer to Chapter 22 Torque Sensor
*
关于精度的具体说明，详见：
https://www.zeroerr.cn/Certification/92.html
*
More details of specific instructions on accuracy, please refer to
https://www.zeroerr.cn/Certification/92.html.
eRob 系列关节模组规格参数如表 3-2 至表 3-3。

eRob series rotary actuator parameters are shown in Table 3-2 and Table 3-3.
表 3-2 eRob 关节参数表（A）
Table 3-2 eRob series rotary actuator parameter sheet (A)
表 3-3 eRob 关节参数表（B）
Table 3-3 eRob series rotary actuator parameter sheet (B)
启停峰值扭矩、平均负载转矩容许最大值、额定扭矩、瞬间容许最大扭矩、
输出端峰值转速为减速机参数，即输出端（负载端）参数，电机功率、转子惯
量为电机参数，即输入端参数。以上参数只保留最新参数，在不同版本产品中
略有差异，更多详情及 2D 图纸、 3D 模型请访问零差云控官网
https://www.zeroerr.cn 了解下载。
Peak torque for start and stop, permissible maximum value at average load
torque, rated torque, permissible maximum momentary torque, and peak rotational
speed at output are gear parameters, that is, the output shaft (load end) parameters.
Motor power, and rotor inertia are the motor parameters, that is the input shaft
parameters. Above parameters only retain the latest parameters. There are slight
differences in different versions of products. For more details, 2D drawings and 3D
models, please visit ZeroErr official website at https://en.zeroerr.cn.
额定转矩
表示输入转速为 2000r/min 时的容许连续负载转矩。
起动停止时的容许峰值转矩（参照图 3-2）
起动停止时，根据负载转动惯量，会有大于正常转矩的负载作用到关节模
组。关节参数表的数值是此时峰值转矩的容许值。
Rated torque
This indicates the permissible continuous load torque when the input rotational
speed is 2000r/min.
Permissible peak torque for start and stop (see Figure 3-2)
Load larger than the steady torque is applied to eRob rotary actuator by the
load inertia moment for start and stop. Values from the ratings show the acceptable
value at peak torque.
图 3-2 负载转矩模式示例
Figure 3-2 Example of load torque pattern
平均负载转矩的容许最大值
负载转矩、输入转速变化时，需计算出负载转矩的平均值。关节参数表的
数值表示的是此时平均负载转矩的容许值。平均负载转矩超过关节参数表数值
时，会因发热而造成润滑剂早期劣化及齿轮磨耗异常。请充分注意。
瞬间容许最大转矩（参照图 3-2）
除通常负载转矩、起动停止时的负载转矩以外，还存在来自外部、无法预
期的冲击转矩。冲击转矩的最大值不能超过关节参数表的瞬间容许最大扭矩。
Permissible maximum value at average load torque

When the load torque and input rotational speed change, the average value of
the load torque needs to be obtained. Values from the ratings show the acceptable
value at average load torque. When the average load torque exceeds the value from
the eRob Series Parameter Sheet, generation of heat degrades the lubricant earlier
and accelerates the abrasion of the teeth. Due care should be taken.
Permissible maximum momentary torque (see Figure 3-2)
Unexpected impact torque may be applied from the exterior except
regular-load torque and load torque for start and stop. The maximum impact torque
can not exceed the permissible maximum momentary torque from the eRob Series
Parameter Sheet.
关于 eRob 关节模组输出端编码器有无多圈记忆功能说明：
多圈（有多圈记忆功能）模组需要安装电池，并且可断电保存多圈，单圈
（无多圈记忆功能）模组不具备此功能。识别单圈与多圈可以在驱动器上位机
“编码器设置”界面中查看负载端编码器是否勾选“使用多圈绝对位置”。单
圈与多圈的硬件以及软件都有差异。
Instructions on encoder at output shaft with/without multiturn memory
function of eRob series:
The rotary actuator with multiturn encoder (with multiturn memory function)
needs to install a battery, which can save multiturn values after powering off; the
rotary actuator with singleturn encoder (without multiturn memory function) cannot
save multiturn values after powering off. Singleturn or multiturn can be identified
by checking whether the “Multi-turn” option of the load encoder has been ticked in
PC “Encoder” interface. There are differences in both hardware and software
aspects between singleturn and multiturn.
eRob 关节模组支持的通信类型说明:
(1) EtherCAT 版本(型号 eRobxxxxxxxx-xx-18Ex)支持：EtherCAT，自定义
CAN，Modbus（RTU/ASCII）。
(2) CANopen 版本(型号 eRobxxxxxxxx-xx-18Cx)支持：CANopen，自定义
CAN, Modbus（RTU/ASCII）。
其中自定义 CAN 和 Modbus-ASCII 为我司自定义通信协议，我司上位机调
试软件与关节的通信方式即为自定义 CAN。EtherCAT、CANopen 遵循标准
CiA402 控制协议，但两者通信物理层接口不一样。
Communication protocols supported by eRob rotary actuators:
(1) EtherCAT version (model eRobxxxxxxxx-xx-18Ex) supports EtherCAT,
CAN-custom, Modbus (RTU/ASCII).
(2) CANopen version (model eRobxxxxxxxx-xx-18Cx) supports CANopen,
CAN-custom, Modbus (RTU/ASCII).
CAN-custom and Modbus-ASCII are custom communication protocols of our
company. The communication type between our PC debugging software and rotary
actuator is CAN-custom. EtherCAT and CANopen abide by the standard CiA402
control protocol, but their communication physical layer interfaces are different.
第四章 eRob 输入电源说明
Chapter 4 eRob Input Power Instruction

4.1 电源电压和电流额定值
Power supply voltage and rated current value
电源使用 48VDC 供电（出厂设定最小允许母线电压为 44V，最大允许母
线电压为 55V），驱动器在检测到超过 55V 时会触发过电压故障，在检测到低
于 44V 时出现电压过低报警。
单关节电流额定值如下表 4-1 列出。
When the power supply is powered with 48VDC (the factory default
permissible minimum bus voltage is 44V, and the permissible maximum bus voltage
is 55V), the drive will trigger an overvoltage fault when the detected voltage
exceeds 55V, and when the detected voltage is less than 44V, it will result in an
undervoltage alarm.
The rated current of an rotary actuator is shown in below Table 4-1.

表 4-1 各型号关节额定电流
Table 4-1 Rated current of each rotary actuator model
型号电压（单位：V）电流(单位：A)
Model Voltage (Unit: V) Current (Unit: A)
eRob70F 48 +/-10% 1.9
eRob70H 48 +/-10% 2.55
eRob80H 48 +/-10% 4.1
eRob90H 48 +/-10% 6.7
eRob110H 48 +/-10% 18.6
eRob142H 48 +/-10% 26
eRob170H 48 +/-10% 45
4.2 eRob 能容许的最高输入电压

eRob permissible maximum input voltage
关节电源接口最大承受电压为 DC60V，输入电压超过 60V 易导致驱动器
故障。关节异常供电的输入电压波形如图 4-1 所示。
注意当使用开关电源或蓄电池（电源输出接空气开关再连接到关节电源接
口）给关节供电时，开关开启上电瞬间可能存在过压冲击（＞60V 的情况），
此种供电方式需在空气开关后、关节电源输入前并联一个电解电容（参考规格：
1000uF，100V），以抑制上电瞬间输入电压的过冲现象,如图 4-2 所示，并联电
解电容后关节正常供电的输入波形图如图 4-3 所示。
The permissible maximum voltage of eRob power interface is DC60V. If the
input voltage exceeds 60V, it will easily cause drive failure. The input voltage
waveform when the eRob is supplied power abnormally is as shown in Fig.4-1.
Note that when powering on the eRob with switching power supply or storage
battery (connect the power output side to the miniature circuit breaker and then
connect to the eRob power interface), there may be an overvoltage shock (>60V)
when turning on the switch and powering on. It should be connected an electrolytic
capacitor (reference specification: 1000uF, 100V) in parallel behind the miniature
circuit before powering on the rotary actuator to avoid the overshoot of input
voltage at the moment of powering on (as shown in Fig.4-2), and input voltage
waveform when the eRob is supplied power normally after connecting an
electrolytic capacitor is shown in Fig.4-3.
图 4-1 关节异常供电的输入电压波形（Max=130V＞60V）
Fig.4-1 Input voltage waveform when eRob is supplied power abnormally (Max=130V＞60V)
48V switching
power supply
or storage battery
图 4-2 电源并联电解电容拓扑图
Fig. 4-2 Topology figure of electrolytic capacitor in parallel with power supply
图 4-3 关节正常供电的输入电压波形（Max=48.8V<60V）
Fig 4-3 Input voltage waveform when eRob is supplied power normally (Max=48.8V<60V)
使用电池（常见锂电池或其他种类蓄电池）供电时不需要考虑反电动势的
影响，因为再生制动时产生的反电动势直接会对电池进行充电，对关节模组没
有任何影响，因此不需要处理，但需修改关节的最高容许与最低容许电压设定
（位于 eTunner 上位机安全电源界面），修改方法如下：
当使用电池电压高于 48V 电压时，例如使用 DC52V 电池供电，则修改最
大允许母线电压设定为 57.2V（52V×110%，百分比可根据实际测试情况调整，
但不建议设定超过 60V），修改最小允许母线电压设定为 46.8V（52V×90%，
百分比可根据实际测试情况调整），修改完后应用并保存，如图 4-4 所示。当
检测到电压高于最大允许母线电压设定的 57.2V 时，将无法使能 eRob 关节，
会报错（母线电压过压）停机，如图 4-5 所示（检测当前电压为 57.802V）。
When powering on with the battery (lithium battery or other storage battery),
the back electromotive force (back EMF) has no influences on the eRob because the
back EMF generated in regenerative braking process charges the battery directly.
Therefore, no actions for back-EMF are required. However, it needs to modify the
permissible maximum/minimum voltage in “Safe Power” in eTunner PC. Following
is the modification method.
When the battery voltage exceeds 48V, such as powering on with DC52V
battery, it needs to modify the permissible maximum bus voltage to 57.2V
(52V×110% , the percentage can be modified according to the actual situation, but
it is not recommended to set the value over 60V), and modify the permissible
minimum bus voltage to 46.8V (52V × 90% , the percentage can be modified
according to the actual situation). Apply and save the parameters after configuration,
as shown in Fig.4-4 When the detected voltage exceeds the permissible maximum
bus voltage 57.2V, the eRob will not be enabled, and there will be an error report
(The bus voltage is undervoltage) and shutdown (as shown in Fig.4-5, the detected
voltage is 57.802V).
图 4-4 使用 DC52V 供电电源设定举例图 4-5 母线电压欠压
Fig. 4-4 Example of using DC52V to supply power Fig. 4-5 The bus voltage is undervoltage
4.3 eRob 能容许的最低输入电压

eRob permissible minimum input voltage
带制动器的 eRob 关节能容许最低输入电压如下表 4-2 列出。
The permissible minimum input voltage of eRob rotary actuator with brakes is
shown in Table 4-2.
表 4-2 带制动器的关容许最低输入电压
Table 4-2 The permissible input voltage of rotary actuators with brakes
型号电压（单位：V）
Model Voltage (Unit: V)
eRob70F 24
eRob70H 24
eRob80H 24
eRob90H 48
eRob110H 48
eRob142H 38.4
eRob170H 38.4
不带制动器的 eRob 关节能容许最低输入电压为 19.5V。
The permissible minimum input voltage of the eRob without brakes is 19.5V.
当输入电压低于容许最低输入电压时，eRob 关节将无法正常工作。
When the input voltage is lower than the permissible minimum input voltage,
the eRob will fail to work normally.
eRob 关节实际能达到的最高转速与输入电压的关系如下计算公式：
The correlation between the actual maximum rotational speed of the eRob and the
input voltage is as below:
当前输入电压
实际最高转速 = 输入电压 48V 下最高转速 ×
48V
�� . ��
current input voltage

= max. rotational speed under 48V ×
48V
当输入电压低于额定电压时将会降低实际最高转速，但不会降低转矩性
能。
When the input voltage is lower than the rated voltage, the actual max.
rotational speed will be reduced, but the toque performance will not be reduced.
由于出厂设定最小允许母线电压为 44V，当使用低于 44V 的电压时，需手
工修改最小允许母线电压设定（位于上位机安全电源界面）。例如使用 DC24V
供电，则修改最小允许母线电压设定为 21.6V（24V×90%，百分比可根据实际
测试情况调整），修改最大允许母线电压设定为 26.4V（24V×110%，百分比可
根据实际测试情况调整），修改完后应用并保存，如图 4-6 所示。当检测到电
压低于最小允许母线电压设定的 21.6V 时，将无法使能 eRob 关节，会报错（母
线电压欠压）停机，如图 4-7 所示（检测当前电压为 20.611V）。
注：eRob 关节内部并没有 eDriver 的再生制动电路，因此再生制动相关参
数对 eRob 没有影响。
Since the factory default permissible minimum bus voltage is 44V, when using
a voltage below 44V, the permissible minimum bus voltage needs to be manually
modified (set in “Safe Power” interface in PC). For example, when powering with
DC24V, the permissible minimum bus voltage should be modified to 21.6V.
(24V×90%, and the percentage can be modified according to the actual situation);
The permissible maximum bus voltage should be modified to 26.4V (24V×110%,
and the percentage can be modified according to the actual situation). Apply and
save the parameters after configuration, as shown in Fig.4-6 When the detected
voltage is below permissible minimum bus voltage 21.6V, the eRob rotary actuator
cannot be enabled and an error will be reported (“The bus voltage is undervoltage”),
and the eRob will shut down ,as shown in Fig.4-7 (the detected current voltage is
20.611V).
Note: There is no regenerative braking circuit of the eDriver inside the eRob
rotary actuator, so the related parameters of regenerative braking have no effect on
the eRob rotary actuator.
图 4-6 使用 DC24V 供电电源设定举例图 4-7 母线电压欠压
Fig. 4-6 Example of using DC24V to supply power Fig. 4-7 The bus voltage is undervoltage
第五章关节正转方向
Chapter 5 Rotary Actuator Positive Rotation
面对减速机输出端，关节正转方向如图 5-1，为逆时针旋转, 此方向不
可修改，关节旋转方向由目标指令的方向决定，目标指令由控制器端修改。
In face of the output shaft of harmonic gear, the positive rotation direction
of eRob rotary actuator is as shown in Fig.5-1, which is counterclockwise
(CCW) rotation direction. The rotation direction can not be modified. The eRob
rotation direction is determined by the direction of the target command which
can be modified by controller.
图 5-1 关节正转方向
Fig. 5-1 Positive rotation direction of rotary actuator
第六章电气接口和指示灯说明
Chapter 6 Electrical Interface and Status Indicator LED

6.1 指示灯功能
Indicator LED function
LED
LED instruction LED status LED status figure
identification
RUN_LED 系统运行指示绿色闪烁
System operation indication. Green light
flashes.
POWER_LED 母线电源接入指示绿色常亮
Bus power connection indication. Green light is
always on.
ECAT
LED LED
communication LED status LED status figure
identification instruction
connection status
ECAT In EtherCAT In 用未连接通信线缆，熄灭
于连接上一级 EtherCAT（COE） Light is off.
eRob 从站控制器也未启动
ECAT Out 或主 Communication
站控制器 cable is not
EtherCAT In is connected and the
used to connect EtherCAT (COE)
the ECAT Out controller does not
port of start.
previous eRob 已连接通信线缆，绿色常亮
slave or master 但未执行数据通 Green light is
controller . 信 always on.
Communication
cable is connected,
but data
communication is
not performed.
数据通信中绿色快速闪烁
Data Green light
communication is flashes quickly.
in progress.
ECAT Out EtherCAT Out 未连接通信线缆，熄灭
用于连接下一 EtherCAT（COE） Light is off.
级 eRob 从站控制器也未启动
ECAT In Communication
EtherCAT Out cable is not
is used to connected and the
connect the EtherCAT (COE)
ECAT In port controller does not
of slave of the start.
next eRob. 已连接通信线缆，绿色常亮
但未执行数据通 Green light is
信 always on.
Communication
cable is connected,
but data
communication is
not performed.
数据通信中绿色快速闪烁
Data Green light
communication is flashes quickly.
in progress.
ECAT
LED LED
communication LED status LED status figure
identification instruction
connection status
ECAT sta 指示 EtherCAT INIT 状态熄灭
状态机的状态 INIT status Light is off.
Indicates the PREOP 状态蓝色闪烁
state of the PREOP status Blue light
EtherCAT flashes.
status machine. SAFEOP 状态蓝色单闪
SAFEOP status Blue light flashes
once, and Time off
＞ Time on
OP 状态蓝色常亮
OP status Blue light is
always on.
BOOT 状态蓝色快速闪烁
BOOT status Blue light flashes
quickly
注：EtherCAT 状态机相关内容请参考《eRob CANopen and EtherCAT 用户
手册》第 4.3 章节。
Note: please refer to Section 4.3 in eRob CANopen and EtherCAT User Manual
for the details about the EtherCAT status machine.

6.2 CAN 通信接口

CAN communication interface
端子标记端子功能
Pin
Terminal sign Terminal function
1 CAN_H CAN 网络信号线
2 CAN_L CAN network signal wire
CAN 网络地
3 CAN_GND
CAN network ground
引脚位置接线端子
Pin position Wiring terminal
接插件信息配线端子信息
Connector Wiring terminal
型号：BM03B-GHS-TBT 型号：GHR-03V-S
Model: BM03B-GHS-TBT Model：GHR-03V-S
规格：单排，间距 1.25mm 3Pin 规格：JST 单头端子，间距 1.25mm 3Pin
Specification: single row, pitch 1.25mm 3Pin Specification: JST single terminal, pitch 1.25mm
3Pin
6.3 EtherCAT 通信接口

EtherCAT communication interface
ECAT In ECAT Out
端子标记端子功能端子标记端子功能

Pin
Terminal sign Terminal function Terminal sign Terminal function
EtherCAT 输入信号接收- ECAT EtherCAT 输出信号接收-

1 ECAT In_RX-
EtherCAT input signal reception- Out_RX- EtherCAT output signal reception-
EtherCAT 输入信号接收+ ECAT EtherCAT 输出信号接收+

2 ECAT In_RX+
EtherCAT input signal reception+ Out_RX+ EtherCAT output signal reception+
EtherCAT 输入信号发送- ECAT EtherCAT 输出信号发送-

3 ECAT In_TX-
EtherCAT input signal transmission- Out_TX- EtherCAT output signal transmission-
EtherCAT 输入信号发送+ ECAT EtherCAT 输出信号发送+

4 ECAT In_TX+
EtherCAT input signal transmission+ Out_TX+ EtherCAT output signal transmission+
Model: BM04B-GHS-TBT Model: GHR-04V-S
规格：JST 单头端子，间距 1.25mm 4Pin

规格：单排，间距 1.25mm 4Pin
Specification: JST single terminal, pitch 1.25mm
Specification: single row, pitch 1.25mm 4Pin
4Pin
注：CANopen 版本关节(型号 eRobxxxxxxxx-xx-18Cx)无此接口。
Note: CANopen version rotary actuators (model: eRobxxxxxxxx-xx-18Cx) do
not have this interface.
6.4 多圈供电电池接口
Multiturn power supply battery interface
Pin
电池正极
1 VB+
Battery +
电池负极
2 VB-
Battery -
规格：单排，间距 1.25mm 2Pin 规格：JST 单头端子，间距 1.25mm 2Pin
Specification: single row, pitch 1.25mm 2Pin Specification: JST single head terminal,
pitch 1.25mm 2Pin
注：单圈关节(型号 eRobxxxxxxxx-xS-18xx)无此接口，多圈供电电池说明
详见第十一章节《多圈供电电池说明》。
Note: Singleturn rotary actuators (model: eRobxxxxxxxx-xS-18xx) do not have
this interface. More details for multiturn battery instruction, please refer to Chapter
11 Multiturn Power Supply Battery Instruction.
6.5 48V 供电电源接口

48V power supply interface
Pin
电源正极
1 DC+
Battery +
电源负极
2 DC-
Battery -
型号：XT30UPB-M 型号：XT30U-F
Model: XT30UPB-M Model：XT30U-F
规格：直脚，脚间距 5mm，脚长 2mm 2Pin 规格：脚间距 5mm 2Pin
Specification: straight pin, pin pitch 5mm, pin length Specification: Pin pitch 5mm 2Pin
2mm 2Pin
6.6 I/O 信号端子

I/O signal terminal
Pin
RS485 通讯接口 DATA+

1 RS485-A
RS485 communication interface DATA+
RS485 通讯接口 DATA-

2 RS485-B
RS485 communication interface DATA-
3 IN1- / Pulse- /STOA-

数字输入 DIn1 /脉冲指令信号/安全转矩关断 A
enter DIn1/pulse command signal/ STOA

4 IN1+/ Pulse+ /STOA+
5 IN2- /Dir- /STOB-

数字输入 DIn2 /脉冲指令方向/安全转矩关断 B
enter DIn2/Pulse command direction/ STOB

6 IN2+ /Dir+ /STOB+
可编程输出信号地
7 OUT_COM
Programmable output signal ground
可编程数字输出 1
8 OUT_1
Programmable digital output 1
可编程数字输出 2
9 OUT_2
Programmable digital output 2
信号地
10 GND
Signal ground
模拟信号输入+（输入范围-10V ~ +10V）
11 ANALOG1+
Analog signal input + (input range -10V ~ +10V)
模拟信号输入-（输入范围-10V ~ +10V）
12 ANALOG1-
Analog signal input- (input range -10V ~ +10V)
规格：单排，间距 1.25mm，立式 180°12Pin

规格：JST 单头端子，间距 1.25mm 12Pin
Specification: Single row, pitch 1.25mm, vertical
Specification: JST single terminal, 1.25mm 12Pin
180° 12Pin
注：CANopen 版本关节(型号 eRobxxxxxxxx-xx-18Cx)无 Pin3~Pin12 接口。
Note: CANopen version rotary actuators (model: eRobxxxxxxxx-xx-18Cx) do
not have Pin3~Pin12 interfaces.
6.7 连接器受力说明
Force instruction of connector

1、JST 端子与线材连接拉力允许值如表 6-1，JST 端子与线材连接拉力测
试示意图如图 6-1。
The permissible tensile force of connection between JST terminal and wire is
shown in Table 6-1, and the tensile test is shown in Fig. 6-1.
表 6-1 JST 端子与线材连接拉力允许值
Table 6-1 Permissible tensile force of connection between JST terminal and wire
线号标准值（N）实际值（N）
AWG Standard value (N) Actual value (N)
AWG #26 ≥20 33~39
AWG #28 ≥10 21~26
AWG #30 ≥5 14~18
Direction of tensile force Direction of tensile force
图 6-1 JST 端子与线材连接拉力测试示意图
Fig. 6-1 Tension testing of connection between JST terminal and wires
2、连接器公母头连接卡扣允许拉力值如表 6-2，JST 连接器公母头连接卡

扣拉力测试示意图如图 6-2。注意从接口处拔出接线端子时请勿直接拔出，需
先扣动端子前端卡扣使卡扣松脱后再轻轻拔出即可，直接拔出端子易使卡扣断
裂导致连接不稳定。
The permissible tensile force of the male/female head buckles of JST
connector are shown in Table 6-2, and the tension testing is shown in Fig.6-2. Do
not unplug the wiring terminal directly from the interface. Loose the buckle first,
and then pull it out gently. Pulling out terminal directly may cause the buckle
breakage and unstable connection.
表 6-2 连接器公母头连接卡扣允许拉力值
Table 6-2 Permissible tensile force of male/female connector connecting to buckle
针脚数
2~3 4~6 7~9 10~15
Pin number
最低值（N）
10 12 15 20
Minimum value (N)
Direction of tensile force Direction of tensile force
testing fixture
testing fixture
Male/female head buckle base of connector

图 6-2 连接器公母头连接卡扣拉力测试示意图
Fig. 6-2 Tension testing of the male/female head buckles of connector
3、四款连接器底座均是 GHS-TBT 类型，焊盘大小一样，因此，A 向能承
受的推力不大于 3N，B 向能承受的推力不大于 4.2N。
The bases of four type of connectors are all GHS-TBT type, and the sizes of
the four solder discs are the same. Therefore, the permissible thrust force of
A-direction is no more than 3N, and the permissible thrust force of B-direction is no
more than 4.2N.
图 6-3 GHS-TBT 连接器底座 A 向受力图 6-4 GHS-TBT 连接器底座 B 向受力
Fig. 6-3 A-direction force GHS-TBT connector base Fig. 6-4 B-direction force GHS-TBT connector base
6.8 电源端子受力说明
Force instruction of power terminal
1、在连接或拔出电源插头时，请在垂直方向对电源端子母头进行插拔（如
图 6-5 所示）。电源端子公头能承受的垂直方向拉力极限约为 170N，能承受的
水平方向拉力极限约为 0.4Nm。任何时候请勿左右摇晃电源端子（如图 6-6 所
示），晃动容易导致电源端子脱落。
When pulling in or pulling out the power plug, please plug and unplug the
power terminal female head in vertical direction, as shown in Fig.6-5. The tensile
force limit of power terminal male head in vertical direction is about 170N, and in
horizontal direction is about 0.4Nm. Do not shake the power terminals from side to
side at any time. As shown in Fig. 6-6, shaking from side to side may cause the
power terminals to fall off easily.
Vertically plug and unplug
Female head
Male head
图 6-5 正确插拔方向为垂直方向图 6-6 请勿左右摇晃电源端子
Fig. 6-5 Plug and unplug in vertical direction Fig. 6-6 Do not shake power terminal from side to side
2、为避免关节模组在使用过程中受到振动、拉扯等因素造成电源端子松
脱以及接触不良，连接电源端子后需要安装插头固定件，安装步骤为：1）电源
端子母头焊接好电源线；2）插入电源端子母头（如图 6-7 所示）；3）安装插
头固定件并锁紧固定（如图 6-8 所示）。

注：
1.插头固定件锁紧螺钉为 M1.6*4，插头固定件和锁紧螺钉均包含在关节配
件包内。
2.因未安装电源插头固定件，关节模组在使用过程中受到振动、拉扯等因
素造成电源端子松脱以及接触不良打火导致产品发生不可逆的损坏，将失去保
修权利。
To avoid the power terminals fall off or the power terminal is in poor
connection caused by vibration, pulling or other factors during operation, it is
necessary to install plug retainers after connecting the power terminals. The
installation steps are: 1) Weld the power cable to the power terminal female head; 2)
Insert the power terminal female head, as shown in Fig.6-7; 3) Install the plug
retainer and lock it firmly, as shown in Fig.6-8.
Note:
1. The locking screws of plug retainers are M1.6*4. The plug retainers and
locking screws are packaged into the rotary actuator accessories kit.
2. The warranty of eRob does not apply if the eRob without installing plug
retainers is subject to vibration, pulling or other factors causing that the power
terminals fall off or power terminals is in poor connection to ignition and further
causing eRob occurs irreversible damage.
图 6-7 插入电源端子母头图 6-8 安装插头固定件

Figure 6-7 Plug female power terminal Figure 6-8 Install the plug retainer
第七章多关节模组间线缆连接
Chapter 7 Cable Wiring among Rotary Actuators
多关节模组间线缆连接示意图如图 7-1。EtherCAT 组网部分采用直连方式，
主站控制器 RJ45 网口连接第一个模组（slave1）ECAT In 口，第一个模组（slave1）
ECAT Out 口连接下一个模组 ECAT In 口，依次类推。RJ45 网口对应关节模组
网口引脚线序示意图，如图 7-2 所示。CAN 组网部分线缆按端口定义连接即可，
前后模组的 CAN 接口可无顺序连接。电源部分接线方式参考第 7.1 节说明，
CAN/CANopen 通信接线图参考第 7.2 节，EtherCAT 通信接线图参考第 7.3 节。
Cable wiring among rotary actuators is as shown in Fig.7-1. EtherCAT
networking adopts direct wiring mode. Connect the RJ45 network port of the master
controller to ECAT In port of the first eRob (Slave1), and connect the ECAT Out
port of the first eRob (Slave1) to the ECAT In port of the next eRob and so on. The
corresponding eRob network port pin sequence of the RJ45 network port is as
shown in Fig.7-2. Connect CAN networking cables according to port definitions,
and the CAN port of the two adjacent eRobs can be connected in random order.
Refer to Section 7.1 for the wiring method of the power supply; refer to Section 7.2
for the CAN/CANopen communication wiring, and refer to Section 7.3 for the
EtherCAT communication wiring.
PC
图 7-1 多关节模组间线缆连接示意图
Fig. 7-1 Cable wiring among multiple rotary actuators
EIA/TIA regulation, standard 5688 line order
Orange white Blue white
Orange Green(RX-)
Green white Brown white
Blue Brown
EtherCAT communication interface (IN)
Servo 1
EtherCAT communication interface (OUT)
EtherCAT communication interface (IN)
Servo N
EtherCAT communication interface (OUT)
图 7-2 EtherCAT 组网连接方式
Figure 7-2 EtherCAT networking connection mode
7.1 电源接线方式说明
Power wiring methods introduction
本公司关节模组电源接线方式有三种：单轴直连、树型拓扑连接、链型拓
扑连接，三种接线方式示意图如图 7-3 至图 7-5。按多轴协作应用场景中使用
48V 开关电源供电工作时，各轴压降的实际测试结果，三种接线方式推荐顺序
为：1）单轴直连（最优，接线电阻最小，线损耗压降最小，适用于大功率模组）；
2）树形拓扑连接（较优）；3）链型拓扑连接（较差，接线电阻较大，线损耗
压降较大，适用于小功率模组）。
使用 eRob90/110/142/170 时，请使用单轴直连的方式，否则使用中易出现
母线电压过低和过高的报错。
请勿串联接入其他用电设备，其他用电设备可能造成不可预知的压降或升
压导致模组故障。
There are three power wiring modes of eRob: direct wiring for single eRob,
tree topology wiring, and chain topology wiring (as shown in Fig.7-3, Fig.7-4 and
Fig.7-5). Under the condition of applying multiple eRobs which are powered by
48V, according to the actual test results of the pressure drop of each eRob, the
recommended order of adopting the three wiring modes is: 1) Direct wiring of
single eRob (the best one, minimum wiring resistance, minimum pressure drop of
wire consumption, suitable for high-power eRob); 2) tree topology wiring (the
better one); 3) chain topology wiring (the good one, larger wiring resistance, larger
pressure drop of wire consumption, suitable for low-power eRob) .
Please use direct wiring for single eRob method when using
eRob90/110/142/170. Otherwise, it is easily to appear error reports of the too low
bus voltage and too high bus voltage during running.
Do not connect other electrical devices in series. Other electrical devices may
cause unpredictable voltage drop or voltage rise and cause a failure.
1、单轴直连
Direct wiring of single rotary actuator
Shielding layer Shielding layer
图 7-3 单轴直连示意图
Figure 7-3 Direct wiring of single rotary actuator diagram
2、树形拓扑连接
Tree topology wiring
Shielding layer
图 7-4 树形拓扑连接示意图
Figure 7-4 Tree topology wiring diagram
3、链型拓扑连接
Chain topology wiring

图 7-5 链型拓扑连接示意图
Figure 7-5 Chain topology wiring diagram
7.1.1.协作机械臂电源接线推荐示例
Examples of collaborative robot power wiring
1. 负载 3kg 协作机械臂
3kg payload collaborative robot

Shielding layer Shielding layer Shielding layer
图 7-6 负载 3kg 协作机械臂电源接线示意图
Figure 7-6 3kg payload collaborative robot power wiring
10KG payload collaborative robot

Shielding layer
Shielding layer
Shielding layer Shielding layer Shielding layer Shielding layer

Shielding layer
Shielding layer
Shielding layer
Figure 7-9 20KG payload collaborative robot power wiring
7.2 CAN/CANopen 通信接线图
CAN/CANopen communication wiring diagram

注意事项：
1. CAN 通信线采用双绞线，单独屏蔽, eRob 关节模组采用固定 1Mbps 传输
速率，CAN 总线上两个相距最远的节点之间的通信距离可达 25m。
2. 如图 7-10，控制器端和末端伺服（eRob Drive n）CAN 接口各需并联一个
120Ω 终端电阻。
3. 建立 CAN 通讯之前，需要确保每个关节模组设定唯一的 CAN ID（参考本手
册第 27.1.2 章节）。
4. CAN 接口电路最大承受电压 DC24V。
Attentions:
1.CAN communication cable is twisted pair and shielded separately. eRob rotary
actuator adopts rated 1Mbps transmission rate and the communication distance
between the two farthest nodes on the CAN bus can reach 25m.
2.As shown in Fig.7-10, CAN interface of the controller end and the end servo
(eRob Drive n) shall be respectively connected with a 120 Ω terminal resistance in
parallel.
3.Ensure each rotary actuator has a unique CAN ID before establishing CAN
communication, please refer to Section 27.1.2 of this manual.
4.The maximum input voltage of the CAN interface circuit is DC24V.
Shielding layer
Shielding layer
图 7-10 CAN/CANopen 通信接线图

Figure 7-10 CAN/CANopen communication wiring diagram
7.3 EtherCAT 通信接线图
EtherCAT communication wiring diagram
Attention:
1、EtherCAT 通信线采用双绞线，单独屏蔽。
Shielding layer EtherCAT communication cable is twisted pair and
shielded separately.
2、即使选择 EtherCAT 通信的关节型号，仍然建
议在整机系统中连接并保留关节 CAN 通信线，
并提前设定好关节 CAN ID(参考本手册第 7.2 章
节)，以便于在后续的调试中对各个关节进行调
试，包括排查故障、修改参数、升级固件等。
Even if you choose the EtherCAT version eRob, it
is still recommended to connect and keep the CAN
wires of the eRob in the whole instrument system,
and set up the CAN ID (refer to Chapter 7.2 of this
manual) of the eRob in advance, so that you can
debug each eRob later, including troubleshooting,
modifying parameters, and upgrading firmware etc.
图 7-11 EtherCAT 通信接线图
Figure 7-11 EtherCAT communication wiring diagram
7.4 Modbus-RTU 通信接线图
Modbus-RTU Commnucation Wiring Diagram
Modbus-RTU 通信接口为 eRob 关节模组 I/O 端子的 RS485 通讯接口，
MODBUS 主站系统和 MODBUS 从站系统可以创建多点连接总线网络，接线图
如图 7-12 所示。 Modbus-RTU 通信协议使用说明详见《 eRob 机器人关节
Modbus-RTU 通信应用手册》。
The Modbus-RTU communication interface is the RS485 communication
interface of the I/O terminal of the eRob rotary actuator. The MODBUS master
system and the MODBUS slave system can create a multi-point connection bus
network. The wiring diagram is shown in Figure 7-12. For details on the use of the
Modbus-RTU communication protocol, please refer to the eRob Modbus-RTU User
Manual.
图 7-12 Modbus-RTU 通信接线图
Fig. 7-12 Modbus-RTU communication wiring diagram
注意事项：
1. Modbus-RTU 通信线采用双绞线，单独屏蔽。
Attention:
1. Modbus-RTU communication cable is twisted pair and shielded separately.
7.5 I/O 信号端子接线图
I/O signal terminal wiring diagram
1.通用数字输入 DI 端子
Universal digital input DI terminal
Host device
图 7-13 通用数字输入 DI 端子连接图
Fig. 7-13 Universal digital input DI terminal wiring diagram
2.安全转矩关闭(STO)功能端子
Safe Torque Off (STO) function terminal
Host device
图 7-14 安全转矩关闭(STO)端子连接图
Fig.7-14 Safe torque off (STO) terminal wiring diagram
3.脉冲方向控制端子
Pulse direction control terminal
(1)当为 5V 差分方式时
5V difference mode
Host device
Twisted pair wires
图 7-15 5V 差分脉冲指令输入端子连接图
Fig. 7-15 5V difference pulse command input terminal wiring diagram
(2)当为集电极开路方式时
Open collector mode
Host device
Twisted pair wires
图 7-16 集电极开路脉冲指令输入端子连接图
Fig. 7-16 Open collector pulse command input terminal wiring diagram
4.数字输出 DO 端子
Digital output DO terminal
Host device
图 7-17 数字输出 DO 端子连接图

Fig. 7-17 Digital output DO terminal wiring diagram
模组内部光耦输出电路最大允许电压、电流容量如下：
■ 电压：DC30V(最大)
■ 电流：DC50mA(最大)
The permissible maximum voltage and current capacity of the optical coupler
output circuit inside the rotary actuator is as below:
■ Voltage: DC30V (Max.)
■ Current: DC50mA (Max.)
7.6 线缆规格说明
Cable specifications
eRob 关节各信号接口线缆选型规格详见表 7-1。
The cable model specifications for each signal interface of eRob rotary
actuator is shown in Table 7-1.
表 7-1 eRob 关节线缆规格
Table 7-1 eRob rotary actuator cable specification
线路数* 适用线规格
模组配线规格接线预留高度
接口数 Applicable
型号信号接口 Cable Cable reserved
Number of cable
eRob Signal interfaces specifications height
cables*Number specifications
Model
of interfaces mm² AWG# mm² AWG# mm
CAN 通信接口
0.05~
CAN communication 3P*2 30~26 0.081 28 10
0.13
interface：CAN(A), CAN(B)
EtherCAT 通信接口:
ECAT In、ECAT Out

全系列 0.05~
EtherCAT communication 4P*2 30~26 0.081 28 10
All 0.13
interface：
eRob
ECAT In, ECAT Out
Series
I/O 接口 0.05~
12P*1 30~26 0.081 28 10
I/O Interface 0.13
多圈供电电池接口: BAT
0.05~
Multiturn power supply 2P*1 30~26 0.081 28 10
0.13
battery interface：BAT
eRob70 2P*2 0.5 20 - - 15
eRob80 2P*2 0.75 19 - - 15
eRob90 48V 供电电源接口:DC in 2P*2 1.0 18 - - 15

48V power supply interface：
eRob110 2P*2 1.25 17 - - 15
DC in
eRob142 2P*2 1.5 16 - - 15
eRob170 2P*2 1.5 16 - - 15
第八章重要的制动器使用说明
Chapter 8 Brake Instruction
8.1 使用说明及注意事项
Instruction and caution
（1）制动器不需要额外单独供电，只需连接 eRob 的 DC 电源接口供电即可。
eRob 电源供电电压参考本手册《第四章 eRob 输入电源说明》。
（2）eRob 制动器可作为静态保持制动器。
（3）eRob 制动器可承受低负载（<10%最大转矩）、低转速（<10%最大转
速）运行条件下的动态制动冲击，但应避免频繁作为动态制动器使用。
（4）高转速、重载荷下触发故障、意外、急停事件会导致制动器闭合，并
对运动组件造成永久性损坏。eRob 在应用开发或调试过程中应避免高转速运动
加过重的载荷的条件下使用。
（5）若 eRob 裸露在强磁工作环境下使用，则存在刹车无法正常工作的风
险，需对 eRob 本体采取磁屏蔽措施。
（6）极少数情况下，在电源失效或不想使用电源的紧急状况下需要转动机
器人关节时，可以通过外力迫使机器人关节转动，每种型号所需力矩如表 8-1。
（7）当 eRob 电源正常供电时，上使能将自动释放刹车，下使能时自动刹
车抱闸，刹车物理动作时间约 150ms，建议下使能到上使能的最小控制间隔时
间是 200ms。当需要电机未使能的情况下单独释放刹车时可采取本手册《8.2.
制动器操作方法》。
（1）The Brake does not need to be powered separately. Connect power to the
DC power interface of eRob and the brake will be powered. For the eRob power
supply voltage, please refer to Chapter 4 eRob Input Power Instruction.

（2）eRob brake can be used as a static holding brake.
（3）eRob brake can withstand dynamic brake impact under the operating
condition of low load (<10% max. torque) and low rotational speed (<10% max.
rotational speed), but frequent use as dynamic brake should be avoided.
（4）Failure, accident, and emergency stop triggered under the condition of

high rotational speed and heavy load will cause the brake to be closed and cause
permanent damage to motion components. Avoid running eRob under high
rotational speed and heavy load conditions during application development or
debugging.
（5）There is a risk that the brake will not work properly if the eRob is exposed
to a strong magnetic environment. Therefore, magnetic shielding measures should
be taken for eRob.
（6）When it is necessary to rotate the eRob in rare emergency situations (for

example, the power is failure or do not want to use the power supply), the eRob can
be forced to rotate by external force. The torque required for each model is shown in
Table 8-1.
（7）When the eRob is powered normally, enabling it will release the brake
automatically, and disabling it will enable the brake automatically. The time of
activating the brake is about 150ms. It is recommended that the minimum control
interval from enabling the brake to disabling the brake is 200ms. Refer to section
8.2 Brake operation methods for the operation method of releasing the brake
separately under the condition that the motor is disabled.
表 8-1 机器人关节转动所需外力扭矩值（Nm）
Table 8-1 Torque value of external force required for rotation of eRob (Nm)
型号
Model
eRob70F eRob70 eRob80 eRob90 eRob110 eRob142 eRob170
速比
Gear ratio
50 35 35 65 125 125 200 300
80 56 56 104 200 200 320 480
100 70 70 130 250 250 400 600
120 - 84 156 300 300 480 720
160 - - - - 400 640 960
警告：外力强制转动机器人关节仅限于紧急情况，并且有可能会损坏机器
人关节。
Warning: Rotating rotary actuators by eternal force can be only used in
emergency and it may damage the rotary actuators.
8.2 关于制动器的寿命
Brake lifespan
8.2.1. 开合次数
Brake opening and closing times
每一款模组使用的制动器都抽样测试过 10 万次以上的吸合测试，吸合寿命测试
结束后各项性能参数指标都正常。
The brakes used in each module have been sampled for more than 100,000 times of
suction test, and all performance parameters are normal after the suction life test is
over.
8.2.2. 闭合时，强制拖动次数
When brake engaged,the number of forced drags
制动器可以承受偶发的强制拖动，每个制动器出厂前都会经历 1000 圈以上
的闭合时强制拖动测试，各项性能参数指标都正常。但是，制动器的制动扭矩
大于减速器额定扭矩（减速比转换以后），强制拖动时，减速器可能先于制动
器损坏，关于减速机寿命，详见第二十四章关于使用寿命。各型号模组的制动
扭矩如下。
The brakes can withstand occasional forced dragging. Before leaving the factory,
each brake will undergo more than 1,000 cycles of forced dragging tests when it is
closed, and all performance parameters are normal. However, the braking torque of
the brake is greater than the rated torque of the gear (after the gear ratio is
converted), and the reducer may be damaged before the brake when forced to drag.
For the life of the harmonic gear, please refer to Chapter 24 Life of Rotary Actuator.
The braking torque of each actuator module is as follows.
表 8-2 机器人关节各型号制动扭矩值（Nm）
Table 8-2 Braking torque value of each eRob models (Nm)
型号
eRob70F eRob70 eRob80 eRob90 eRob110 eRob142 eRob170
Model
制动扭矩 T（Nm）
0.7＜T＜2 1＜T＜2.5 2.5＜T＜4 4＜T＜8 6＜T＜10
Braking Torque T（Nm）
8.3 非使能状态，强制开启制动器操作方法
Operation method of forcily opening the brake(Non-enabled state)

8.3.1.上位机软件操作
PC software operation
Step1：如图 8-1，安装有 eTunner 上位机软件的电脑，通过 eDriver-USB CAN
调试器连接 eRob 的 CAN 通信接口，然后给 eRob 提供正确电源。
Step1: As shown in Fig.8-1, install a computer with PC software eTunner,
connect eRob CAN communication interface through eDriver-USB CAN debugger,
and then supply the eRob with proper power, as shown in Fig.8-1.
图 8-1 CAN 接线
Fig. 8-1 CAN wiring
Step2: 打开 eTunner 上位机软件，进入上位机主界面，点击“设置马达, 弹
出“设置马达”界面，如图 8-2。
Step2: Open eTunner PC software and enter into the PC main interface. Click
“Motor”, the “Motor Settings” interface will pop up, as shown in Fig.8-2.
释放刹车：点击“释放刹车”按钮，则制动器处于释放（非制动）状态。
“Release brake”: click it, the brake is in release status (non-braking).
启用刹车：点击“启用刹车”按钮，则制动器处于闭合（制动）状态。
“Enable brake”: click it, the brake is in enabling (braking) status.
图 8-2 连接上位机释放刹车
Fig. 8-2 Connect PC and release brake
注：上位机与伺服通讯为 CAN 通讯，因此也可通过发送 CAN 报文指令的
方式来操作制动器，报文协议请阅读我司《eRunner 用户手册_Ver1.1》。
以伺服 ID=1 为例，发送报文如表 8-2 所示：
Note: The communication mode between PC and servo communication is CAN
communication, so brake can also be operated by sending CAN messages. Please
refer to eRunner User Manual for message protocol.
Take servo ID=1 as an example, sending messages are as shown in Table 8-2.
表 8-2 制动器 CAN 控制报文
Table 8-2 CAN control messages of brake
功能报文
COB-ID
Function Messages
释放刹车 641 01 4F
Release brake 5C1 3E
启用刹车 641 01 00 00 00 00 00
Enable brake 5C1 3E
8.3.2.EtherCAT 操作
EtherCAT operation
Step1 ：如图 8-3 ，安装有主站软件（ TwinCAT3 ）的电脑或者其他具备
EtherCAT 通信的主站控制器，通过网线连接 eRob 的 ECAT 通信接口，然后给
eRob 提供正确电源。
Step1: As shown in Fig.8-3, install a computer with master software
(TwinCAT3) or other master controllers with EtherCAT communication, connect to
eRob ECAT communication interface via cables, and then supply proper power for
the eRob.
图 8-3 EtherCAT 接线
Fig. 8-3 EtherCAT wiring
Step2：以 TwinCAT3 主站为例，通过 SDO 访问释放刹车参数对象 4602h
（Release Brake）写入值 1，操作方法如图 8-4，点击“Device 2(EtherCAT)”，
点击“Drive1(ZeroErr Driver)”，点击“CoE-Online”，下拉找到对象“4602”，
左键双击此参数对象，弹出“Set Value Dialog”界面，在“Dec”值输入 1，最
后点击“OK”，则制动器处于释放（非制动）状态，写入值 0，则制动器处于
闭合（制动）状态。
Step2: Take TwinCAT3 master station as an example, visit “Release Brake”
parameter object “4602h (Release brake)” and enter value “1” through SDO,
operation methods are shown in Fig.8-4, click “Device 2 (EtherCAT)”, click
“Drive1(ZeroErr Driver)”, click “CoE-Online”, pull down to find the object “4602”,
double left-click the parameter object, the “Set Value Dialog” interface will pop up,
enter value “1” in the “Dec”, and finally click “OK” , the brake is in release status
(free brake), and if value “0” is entered, the brake is in close status(with brake).
Double click the parameter object
图 8-4 TwinCAT 操作释放刹车
Fig. 8-4 TwinCAT release brake operation
8.3.3.CANopen 操作
CANopen operation
Step1：如图 8-5，具备 CANopen 通信的主站控制器连接 eRob 的 CANopen
通信接口（与 CAN 通信同一硬件接口），然后给 eRob 提供正确电源。
Step1: As shown in Fig.8-5, connect the master controller with CANopen
communication to the eRob CANopen communication interface —the same
hardware interface as CAN communication hardware interface, and then supply
eRob with proper power.
图 8-5 CANopen 接线
Fig. 8-5 CANopen wiring
Step2：主站控制器发送 CANopen 报文指令的方式来操作制动器，报文协
议请阅读我司《eRob CANopen and EtherCAT 用户手册_V1.0》。
以伺服 ID=1 为例，发送报文如表 8-3 所示：
Step2: Master controller sends CANopen message to operate brake. Refer to
eRob CANopen and EtherCAT User Manual V1.0 for message protocol.
Take servo ID=1 as an example, sending messages are as shown in Table 8-3.
表 8-3 制动器 CANopen 控制报文
Table 8-3 CANopen control messages of brake
功能报文
COB-ID
Function Messages
释放刹车 601 23 02 46 00 01 00 00 00
Release brake 581 60 02 46 00 00 00 00 00
启用刹车 601 23 02 46 00 00 00 00 00
Enable brake 581 60 02 46 00 00 00 00 00
8.4 制动器异常判断方法
Abnormal brake judgement
出现以下情况之一时则刹车出现异常：
(1)eRob 关节在失电、并带额定负载情况下出现下滑无法保持。
(2)单独给一个 eRob 关节采用 DC48V 电源供电，eRob 关节空载静止，上
电不做任何操作 6 秒后电源输出电流超出正常值（参考表 8-4），然后用上位
机点击释放刹车（操作步骤详见本手册第 8.3.1 章节）3 秒后电源输出电流超出
正常值（参考表 8-4）。
The brake is abnormal when one of the below conditions occurs:
(1)When the eRob rotary actuator with rated load is not powered on, it slips
and cannot be maintained.
(2)Powering on an eRob with DC48V separately and the eRob is in a no-load
static status. After 6 seconds of power-on and no operation, the output current of the
power supply exceeds the normal value (refer to Table 8-4), and then use the host
computer to click to release the brake ( Please refer to Chapter 8.3.1 of this manual
for details of the operation steps) After 3 seconds, the output current of the power
supply exceeds the normal value (refer to Table 8-4).
表 8-4 eRob 关节单独供电电源电流
Table 8-4 Supply current of eRob after powering on separately
上电不做任何操作 6 秒后电源电流（单位：mA）点击释放刹车 3 秒后电源电流（单位：mA）

型号
Power current after 6 seconds of power-on and Power current after 3 seconds of releasing
Model
no operation (unit: mA) the brake (unit: mA)
eRob70 35~60 70~120
eRob80 35~60 90~120
eRob90 35~60 175~210
eRob110 35~60 175~210
eRob142 35~60 150~180
eRob170 35~60 150~180
第九章回收动能的处理
Chapter 9 Kinetic Energy Recovery
9.1 回收动能产生原因分析
Analysis of the cause of kinetic energy recovery
当模组使用 48V 开关电源供电时，其简化电路回路等效于图 9-1 和图 9-2
所示。
When the rotary actuator is powered by a 48V switching power supply, its
simplified circuit loop is equivalent to that shown in Fig. 9-1 and Fig. 9-2.
图 9-1 正常工作时图 9-2 减速工作时

Fig. 9-1 During normal operation Fig. 9-2 During decelerating operation
如图 9-1 正常工作时，电源向负载（电机）供电，输出电能。如图 9-2 当
负载处于减速工作时，电路回路处于回收动能的过程，即此时电机相当于发电
机工作，动能转换为电能回馈，反向电流向电源端电容不断充电使电压升高。
由于回收动能（功率）∝T*n（扭矩*转速），因此速度越快，负载越大，回收
动能（功率）越高，当电源电压升高到大于驱动设置的最高允许母线电压时，
伺服会发生母线电压过高报错而停止。
As shown in Fig. 9-1, when it works properly, the power supply supplies power
to the load (motor) and outputs electric energy. As shown in Fig.9-2, when the load
is decelerating, the circuit loop is in the process of kinetic energy recovery. That is,
the motor works as a generator, the kinetic energy is converted into electrical energy
feedback, and the reverse current continuously charges the capacitor at the power
supply end to increase the voltage. Since the recovered kinetic energy (power) ∝
T*n (torque * rotational speed), the speed gets faster, the load gets greater, and the
recovered kinetic energy (power) gets higher. When the power supply voltage rises
to a value which is greater than the value of the permissible maximum bus voltage
set by the drive, the servo will report errors and stop when the bus voltage is too
high.
9.2 处理方法
Solutions
针对动能回收处理有三种处理方法：1）加泄放电阻；2）加超级电容；3）
加蓄电池。
There are three processing methods for kinetic energy recovery: 1) Add leak
resistor; 2) Add super capacitor; 3) Add storage battery.
9.2.1.加泄放电阻
Add leak resistor
当模组使用 48V 开关电源供电，增加泄放电阻的工作电路可简化等效于
图 9-3 和图 9-4 所示。
When the rotary actuator is powered on with a 48V switching power supply,
the working circuit with adding leak resistor can be simplified and equivalent to
Fig.9-3 and Fig. 9-4.

图 9-3 当 VDC <51V 时电阻断开图 9-4 当 VDC >53V 时电阻接通
Fig. 9-3 Resistor is disconnected during VDC <51V Fig. 9-4 Resistor is connected during VDC >53V
加泄放电阻作用在于当电路回路处于回收动能的过程时，多余能量通过电
阻消耗，从而避免动能回馈导致的电源电压冲高。但是泄放电阻不能长时间接
入电路，否则会持续产生较多热量导致器件损伤或电路故障以及不必要的电能
消耗。因此建议有必要设计可靠的泄放电阻接通控制逻辑。例如当驱动最高允
许母线电压设定值为 55V，最低允许母线电压设定值为 44V，则泄放电阻接通
控制逻辑可设计为：当 V >53V 时接通（如图 9-4，此时多余电能通过电阻消耗），

DC
当 V <51V 时断开（如图 9-3，此时电源仅向电机输出电能）。

DC
The function of adding leak resistor is that when the circuit loop is in kinetic
energy recovery processing, the excess energy is dissipated through the resistor,
thereby avoiding the power supply voltage spike in the process of the kinetic energy
feedback. However, the leak resistor cannot be connected to the circuit for a long
time, otherwise more heat will be generated continually, resulting in device damage,
circuit failure or unnecessary current consumption. Therefore, it is recommended to
design a reliable control logic of connecting leak resistor . For example, when
setting the permissible maximum bus voltage setting value of the drive to 55V and
the permissible minimum bus voltage setting value to 44V, the control logic of
connecting the leak resistor can be designed as that when the resistor is connected
during VDC >53V (as shown in Fig.9-4, the excess power is dissipated through the
resistor at this time), and when the resistor is disconnected during V <51V (as
DC
shown in Fig.9-3, the power supply only outputs power to the motor at this time).
9.2.2.加超级电容
Add super capacitor
利用超级电容的超大电容量和快速充电特性，可采用超级电容来吸收回收
动能，其工作电路可简化等效于图 9-5 和图 9-6 所示。
The super capacitor with large capacitance and fast charging characteristics
can be used to absorb and recover kinetic energy. The working circuit can be
simplified and equivalent to Fig.9-5 and Fig.9-6.
图 9-5 超级电容放电图 9-6 超级电容充电

Fig. 9-5 Super capacitor is discharging Fig. 9-6 Super capacitor is charging
如图 9-5 正常工作时，开关电源和超级电容同时向负载（电机）供电，输
出电能。如图 9-6 当负载处于减速工作时，动能转换为电能回馈，超级电容快
速充电回收部分动能，从而避免电源电压快速冲高，实现电源电压在安全电压
范围内波动的效果。
As shown in Fig.9-5, switching power supply and the super capacitor supply
power to the load (motor) and output electric energy at the same time when it works
normally. As shown in Fig.9-6, kinetic energy is converted into electric energy
feedback and the super capacitor quickly charges to recover part of the kinetic
energy when the load is decelerating, thereby avoiding quick supply voltage spike
and realizing the effect of the supply voltage fluctuating within the range of safe
voltage.
9.2.3.加蓄电池
Add storage battery
利用蓄电池充电吸收回收动能，其工作电路可简化等效于图 9-7 和图 9-8
所示。
Storage battery is used to charge and absorb kinetic energy recovery, whose
circuit can be simplified and equivalent to Fig. 9-7 and Fig. 9-8.
图 9-7 开关电源加蓄电池供电图 9-8 蓄电池充电
Fig. 9-7 Switching power supply add storage battery Fig. 9-8 Storage battery charges
与超级电容作用原理类似，在正常工作时，开关电源和蓄电池可同时向负
载（电机）供电，输出电能（如图 9-7 所示）。如图 9-8 当负载处于减速工作
时，动能转换为电能回馈，利用蓄电池充电回收动能。
Similar to the principle of super capacitors, switching power supply and
storage battery can supply power to the load (motor) and output electric energy at
the same time (as shown in Fig.9-7) when it works normally. As shown in Fig. 9-8,
the kinetic energy is converted into electric energy feedback, and the kinetic energy
is recovered by charging the storage battery when the load is decelerating.
第十章编码器和位置反馈
Chapter 10 Encoder and Position Feedback
10.1 编码器分辨率和单圈位置反馈
Encoder resolution and singleturn position feedback
关节模组采用双编码器实现全闭环控制，包含一个电机端绝对值单圈编码
器，分辨率为 17 bit，一个输出端（负载端）绝对值单圈编码器，分辨率 19 bit
（如为带多圈功能的关节型号，多圈位数 16 bit）。
编码器分辨率是指轴转一圈所输出的位置数。例如关节的输出端（负载端）
编码器分辨率为 19Bit，即一圈输出的位置数是219 ；19Bit 分辨率的单圈位置反
馈是 0~524287，在 0 的位置往反方向运动会从 0 跳变到 524287，在 524287 位
置往正方向运动会从 524287 跳变到 0。
Rotary actuator is built-in dual absolutes encoders to achieve dual loop
position control, including a singleturn absolute encoder for motor with 17-bit
resolution and a singleturn absolute encoder for output shaft with 19-bit resolution.
(The multiturn resolution of rotary actuator with multiturn function is 16 bit)
Encoder resolution refers to the position number outputted by one rotation of
the rotary actuator. For example, the encoder resolution of the output shaft is 19 bit,
that is, the position number outputted by one rotation of the shaft is 219 ; The
singleturn position feedback of 19-bit resolution is 0~524287, which will jump from
0 to 524287 if the actuator moves in the opposite direction at the 0 position. On the
contrary, the position feedback will jump from 524287 to 0 if the actuator moves in
the positive direction at the 524287 position.

计算单圈角度对应编码器位置（19 bit）：角度 ÷ 360 × 524288
例如：20°的位置对应编码器位置为 20 ÷ 360 × 524288。
Calculate the encoder position corresponding to the singleturn angle (19 bit):
angle ÷ 360× 524288
For example: the 20°position corresponding to the encoder position is :
20 ÷ 360×524288.
10.2 关节的位置反馈
Position feedback of rotary actuator
当编码器单圈位置在边界位置发生跳变时关节会进行多圈圈数计数。如图
10-1 所示，19Bit 分辨率的编码器边界位置为 0 和 524287，正转是从 524287 跳
变到 0，多圈圈数+1，反转是从 0 跳变到 524287，多圈圈数-1。
When the encoder singleturn position jumps at the boundary position, the
rotary actuator will count the multiturn turns. As shown in Fig. 10-1, the encoder
boundary positions with 19-bit resolution are 0 and 524287; The position feedback
will jump from 524287 to 0 if it rotates in the positive direction, and the multiturn
turns +1; On the contrary, the position feedback will jump from 0 to 524287 if it
rotates in the opposite direction, the multiturn turns -1.
当前位置计算公式：位置 = 圈数×分辨率+单圈位置。
The current position calculation formula:
position = turns×resolution+singleturn position.
Encoder position feedback when power off or
multiturn function encoder position feedback
Multiturn counter rotates for positive +1 or
reverse -1 after crossing boundary
Encoder singleturn position feedback
Positive rotation
Reverse rotation
图 10-1 位置反馈示意图
Fig. 10-1 Position feedback
关节位置反馈获取方式：
(1)通过 EtherCAT 或 CANopen 总线读取对象索引 6064 h（实际位置，单位：
脉冲），由上述位置计算公式可知，6064 h 值=圈数×分辨率+单圈位置。
(2)在我司驱动器调试上位机软件中，通过“状态监控”界面中显示的“位
置”读取关节的位置反馈，单圈位置反馈对应“编码器”界面中的“编码器读
数”，如图 10-2 所示。
Rotary actuator position feedback acquisition:
(1)Read object index 6064 h (actual position, unit: pulse) via EtherCAT or
CANopen bus. According to the above position calculation formula, it can be seen
that: 6064 h value =turns×resolution+singleturn position.
(2) In ZeroErr’s PC software of drive debugging, read the position feedback of
rotary actuator via the “Position” displayed in the “Monitor” interface; the
singleturn position feedback corresponds to the “Motor Encoder” and “Load
Encoder” displayed in the “Encoder” interface, as shown in Fig. 10-2.

图 10-2 上位机读取位置反馈
Fig. 10-2 The PC reads the position feedback
10.3 使用单圈功能的关节位置和注意事项
Position and cautions of rotary actuator with singleturn function
配置单圈编码器的关节模组在安装前需要调整模组减速机输出端位置，确
保设备运行范围内不会出现越过输出端单圈编码器边界位置(0 和 524287)，否
则将会出现断电重启丢失多圈计数，关节位置反馈变为输出端编码器单圈位置。
Adjust the output shaft position of reducer before installation of rotary actuator
equipped with singleturn encoder to ensure no overshoot of output singleturn
encoder boundary position (0 and 524287) within the operation range. Otherwise,
the multiturn count will be lost after powering off and restarting to operate, then the
actuator position feedback will become the output encoder singleturn position.
10.4 使用多圈功能的关节位置和注意事项
Position and cautions of rotary actuator with multiturn function

配置多圈编码器的关节模组则不需要在安装前调整模组减速机输出端位
置来配合机械零位。但需注意多圈关节使用前需要安装 3.6V 多圈供电电池，然
后点击上位机编码器界面的重置负载端编码器按钮清除多圈电池错误（操作方
法如图 10-3 所示）。若多圈关节不接电池使用，在下一次断电重启后依然会报
错，且会丢失多圈计数（即位置反馈变为输出端编码器单圈位置）。
The rotary actuators with multiturn encoder do not need to adjust the output
shaft position of reducer to match the mechanical zero position before installation.
Noted that the 3.6V multiturn power supply battery needs to be installed before
using the multiturn rotary actuator, and then click “Reset Load Encoder” in
“Encoder” interface to clear the multiturn battery errors (The operation method is
shown in Fig.10-3). If the battery is not connected to the multiturn rotary actuator,
error reports will still occur after the next powering off and restarting, and the
multiturn counters will be lost. (That is the position feedback becomes the output
encoder singleturn position.)
1. 带多圈功能的关节第 1 次使用需安装电池,然后点击此重置按钮清除多圈报错。
2. 使用过程中发生编码器电池相关报警，排除故障后需点击此重置按钮清除多圈报错。
1. The multiturn eRob should be equipped with a battery during the first use, then click
“Reset Load Encoder” to clear multiturn error reports.
2. If encoder battery alarms occur during operation, click “Reset Load Encoder” to clear
multiturn error reports after troubleshooting.
图 10-3 负载端编码器复位操作
Fig. 10-3 Load encoder reset operation
10.5 机械零点标定功能使用说明
Instruction of zero position calibration function

10.5.1 单圈关节机械零点标定功能
Zero position calibration function of singleturn rotary actuator
单圈关节由于安装的原因，在用户定义的机械零点为中心达到最大的运行
范围时，位置反馈值可能会越过边界值（0 或 524287），用户可利用机械零点
标定功能，将定义的机械零点设置为 262144 ，保证单圈关节运行范围最大
（-175°~175°），且位置反馈值在单圈位置范围内，如图 10-4 所示。
Due to the installation method, when the singleturn rotary actuator operates
with the zero position defined by the user and reaches the maximum motion range,
the position feedback value may exceed the boundary value (0 or 524287). The user
can set the zero position to 262144 by using zero position calibration function
thereby ensuring the maximum motion range the singleturn eRob rotary actuator is
-175 ° ~175 ° and the position feedback value is within the singleturn position
range as shown in Fig 10-4.
图 10-4 单圈关节机械零点标定前后对比图
Figure 10-4 Comparison figures of before/after zero position calibration of singleturn eRob
连接 eTunner 上位机，运动至用户定义的机械零点，详细运动步骤请参考
本手册《十五.关节试运行》，单圈关节零点标定流程图如图 10-5 所示。
Connect eTunner PC, make the eRob move to the zero position defined by the
user. Refer to Chapter 15 Trail Run for Rotary Actuator for detailed steps. The flow
diagram for zero position calibration of singleturn eRob is as shown in Fig.10-5.
图 10-5 单圈关节机械零点标定流程图
Figure 10-5 Flow diagram of zero position calibration of singleturn eRob
单圈关节机械零点标定使用步骤如图 10-6 所示，提示保存成功后断电重
启，打开机械零点标定界面，查看当前位置值为 262144 则表明设置成功。
The steps for using zero position calibration function of singleturn eRob are as
shown in Fig.10-6. When the save command is completed, power off and restart.
Open the “Zero point” interface, when current “Position” value is 262144, the
setting is successful.
图 10-6 单圈关节机械零点标定功能
Figure 10-6 Zero position calibration function of singleturn eRob
注：最新版 eTunner_V13.63 上位机单圈关节机械零点标定功能需匹配 X3071220X 版本及
以上固件。
Note: Mechanical zero calibration function of singleturn eRob in the latest eTunner_V13.63
should match firmware of X3071220X or above.
10.5.2 多圈关节机械零点标定功能
Zero position calibration function of multiturn rotary actuator
多圈关节用户可使用机械零点标定功能，将定义的机械零点值根据现场实
际情况灵活设置机械零点值（0~524287），默认配置机械零点值为 262144，如
图 10-7 所示。
The multiturn eRob user can use zero position calibration function to set the
zero position (0~524287) flexibly according to the actual situation. The default zero
position value is 262144, as shown in Fig 10-7.
图 10-7 多圈关节机械零点标定前后对比图
Figure 10-7 Comparison figures of before/after zero position calibration of multiturn eRob
连接 eTunner 上位机，运动至用户定义的机械零点，详细运动步骤请参考
本手册《十五.关节试运行》，多圈关节机械零点标定功能流程图如图 10-8 所
示。
Connect eTunner PC and make the eRob move to the zero position set by the
user. Refer to Chapter 15 Trial Run for Rotary Actuator for detailed steps.The flow
diagram for zero position calibration of multiturn eRob is as shown in Fig.10-8.
图 10-8 多圈关节机械零点标定流程图
Figure 10-8 Flow diagram for zero position calibration of multiturn eRob
多圈关节机械零点标定操作步骤如图 10-9 所示，提示保存成功后断电重
启，打开机械零点标定界面，查看位置值为机械零点设定值则表示设置成功。
The steps for using zero position calibration function of multiturn eRob are as
shown in Fig.10-9. When the save command is completed, power off and restart.
Open the “Zero point” interface, when the setting value is displayed in current
“Position” , the setting is successful.

图 10-9 多圈关节机械零点标定功能
Fig.10-9 Zero position calibration function of multiturn eRob
注：最新版 eTunner_V13.63 上位机多圈关节机械零点标定功能需匹配 X3071220X 版本及
以上固件。
Note: Mechanical zero calibration function of multiturn eRob in the latest eTunner_V13.63
should match firmware of X3071220X or above.
10.6 位置保护功能使用说明
Instruction of position protection function
关节出厂时配置了位置保护出厂参数，如图 10-10 所示，用户可以使用位
置保护功能来限制关节的实际运行范围，防止关节运行超出实际允许的最大运
行范围，导致设备撞机或关节与关节之间互联的线缆扭断损坏。
The rotary actuators are configured with the default parameters of position
protection as shown in Fig 10-10. The user can use the “Pos Limit” function to limit
the actual motion range of the eRob, preventing the eRob from operating beyond the
actual permissible maximum motion range which may cause device collision or the
wire connection damage between rotary actuators.
图 10-10 位置保护出厂参数
Fig.10-10 The default parameter of position protection
例如实际运行范围为+/-15°，机械零位（0°）对应的编码器位置为 262144，
则：
下限设定值：262144 - 21846 = 240298
上限设定值：262144 + 21846 = 283990
通过上位机设置方法如图 10-11 所示，打开“位置保护”界面，设置位置
限制：从（下限设定值）到（上限设定值），然后点击应用、保存。
For example, the operation range is +/-15°, the encoder position
corresponding to the mechanical zero position （0°）is 262144, that is ,
Lower limit set value: 262144 - 21846 = 240298
Upper limit set value: 262144 + 21846 = 283990
Setting method via PC is as shown in Fig.10-4. Open the “Safe Position”
interface, set “Position Limit” from (lower limit set value) to (upper limit set value);
then click “Apply” and “Save”.
图 10-11 位置保护设置
Figure 10-11 Set position protection
通过 EtherCAT 或 CANopen 总线也可设置位置保护参数。位置保护参数对
象索引为 607D h，将下限设定值写入 607D h: 01 h，上限设定值写入 607D h: 02 h，
然后对 1010 h:01 h 写入保存指令 65766173 h （写入其他值无效，回读值为 0；回
读值为 1 时表示正在执行保存；回读值为 2 时表示保存完成）。
Position protection parameters can also be set via EtherCAT or CANopen bus.
The object index of position limit protection parameter is “607D h”, enter lower limit
set value “607D h: 01h”, enter upper limit set value “607D h: 02 h”, and then enter save
command “65766173 h”. (enter other value is invalid and the readback value is “0”;
when the readback value is “1”, it means the save command is in execution; the
readback value is “2”, it means the save command is completed).
第十一章多圈供电电池说明
Chapter 11 Multiturn Power Supply Battery Instruction
11.1 电池作用
Function of battery
在带多圈版本的关节模组掉电时为负载端多圈编码器提供工作电源，以记
忆多圈位置值，避免机器人等设备丢失零点。
When the rotary actuator with multiturn is powered off, it provides working
power for the load multiturn encoder to count the multiturn position value and avoid
rotary actuators and other devices losing zero position.
11.2 电池使用注意事项
Cautions on battery usage
使用我司多圈供电电池的注意事项：
(1) 不得更改原电池接线线序，请勿使用过大力拉扯电池线；
(2) 不得使用导线或其他具有导电性的介质直接短接在电池的正负极两端;
(3) 原电池接线端子只适用于我司关节多圈供电电池接口，接入时注意插
入方向正确，插入后电池本体要固定，避免接线端子受到拉扯晃动；
(4) 首次安装电池或更换新电池后需复位负载端编码器（复位操作方法如
图 10-4）。更换电池时拔出接线端子请勿直接拔出，需先扣动端子前端卡
扣使卡扣松脱后再轻轻拔出即可。
更多安全注意事项见本手册《附录 1 多圈供电电池相关注意事项》。
Cautions on multiturn power supply battery usage:
(1) Do not change the wiring sequence of the original battery, and do not
vigorously pull the battery wires;
(2) Do not use wires or other conductive media to directly connect to the
positive and negative terminals of the battery;
(3) The wiring terminal of the original battery is only suitable for the
multiturn power supply battery interface of rotary actuators in our company.
Pay attention to the correct connecting direction. Fix the battery to prevent the
terminals from being pulled and shaken after insertion;
(4) Reset the load encoder after the first installation of the battery or
replacement of a new battery (the reset operation method is shown in Fig.10-4).
When replacing the battery, do not pull out the connector terminal directly. Pull
the terminal front end snaps to release the buckle, and then gently pull it out.
Note: More details for safety cautions, please refer to Appendix 1 Safety
Precautions for Multiturn Power Supply Batteries in the manual.
11.3 多圈功耗
Power consumption of multiturn
经测试（环境温度：25℃），单个多圈电池（初始电压 3.67V）给单个关
节模组（带多圈功能）供电，在关节 48V 输入电源不上电时功耗为 4uA，在关
节 48V 输入电源上电时功耗为 0uA。如图 11-1 为多圈电池 25℃放电特性曲线，
按照 1mA 放电曲线计算，1 个电池可以供电 250 个模组，电压降低到 3.2V 需
要持续放电至少 1000h；按照 25uA 放电曲线计算，1 个电池可以供电 6 个模组，
电压降低到 3.2V 需要持续放电至少 50000h，约 5.7 年；由此推算 1 个电池供电
1 个模组（即 4uA 放电），电压降低到 3.2V 需要持续放电至少 300000h，约 34.2
年。
According to the test (ambient temperature: 25 ° C), on the condition that a
single multiturn battery (initial voltage: 3.67V) supplies power to a rotary actuator
(with multiturn function), the current consumption is 4uA when the rotary actuator
with 48V input power is not powered on; and the current consumption is 0uA when
the rotary actuator with 48V input power is powered on. Fig.11-1 shows the
discharge characteristic curve of multiturn battery at 25 ° C. According to the
calculation of 1mA discharge curve, a battery can supply 250 rotary actuators, and
the battery requires discharging continuously for at least 1000h when voltage drops
to 3.2V. According to the calculation of 25uA discharge curve, a battery can supply
power for 6 actuators; and the battery requires discharging continuously for at least
50,000h (about 5.7 years) when voltage drops to 3.2V. It can be estimated that a
battery powers a rotary actuator (4uA discharge) when voltage drops to 3.2V, it
requires discharging continuously for at least 300,000h( about 34.2 years).
25°C Discharge characteristics
Time(h)
图 11-1 多圈电池 25℃放电特性曲线
Fig. 11-1 Discharge Characteristics of multiturn battery at 25℃
11.4 电池相关报错处理
Battery related errors handling
电池相关报错处理见下表 11-1。
Refer to Table 11-1 for the battery related errors handling.

表 11-1 电池相关报错处理查询表
Table 11-1 Query table for battery related errors handling
0x603F 上报的错误代码
Error codes reported by 0x603F
0x730D
提示信息电池警告错误（*1）
Messages Battery warning error (*1)
直接原因负载编码器多圈保持用电池电压低于警告电压 3.15V
Direct Causes Load encoder multiturn battery keeps holding voltage lower than warning voltage 3.15V.
1.电池正常消耗至低压报警
2.使用了错误的电池
可能问题原因 3.电池线路异常导致过快的损耗
Possible Causes 1.The battery is normally consumed to low voltage warning
2.Use wrong battery
3.Abnormal battery circuit leads to fast consumption
1.更换新电池并执行正确的复位操作（*2）
2.更换正确的电池并执行正确的复位操作
3.检查线缆，更换新电池并执行正确的复位操作
排查处理
1.Replace batteries with new ones and perform correct reset operation (*2)
Troubleshooting
2.Replace batteries with correct ones and perform correct reset operation.
3.Check cables, replace batteries with new ones and perform correct reset operation
0x730F
提示信息电池电压低
Messages Battery voltage is too low
直接原因负载编码器多圈保持用电池电压低于工作电压 3.05V
Direct Causes Load encoder multiturn battery keeps holding voltage lower than working voltage 3.05V
1.电池消耗至低压报警后并继续使用消耗至错误报警电压
2.使用了错误的电池
3.电池线路接触不良
4.未连接电池
可能问题原因
1.After the battery is consumed to trigger the low voltage warning, continue consuming
Possible Causes
to trigger the voltage warning error
2.Use a wrong battery
3.The battery circuit is in poor contact
4.The battery is not connected
1.更换新电池并执行正确的复位操作
2.更换正确的电池并执行正确的复位操作
3.检查线缆，更换新电池并执行正确的复位操作
排查处理 4.安装电池并执行正确的复位操作
Troubleshooting 1.Replace batteries with correct ones and perform the correct reset operation
2.Replace the correct batteries and perform the correct reset operation.
3.Check cables, replace batteries with new ones and perform correct reset operation.
4.Install the batteries and perform a correct reset operation
0x7314
提示信息检测到掉电状态信息
Messages Power-off status detected
负载编码器多圈保持用电池电压高于工作电压 3.05V 以上情况下负载编码器经历过
直接原因电池更换
Direct Causes When load encoder multiturn battery keeps holding voltage higher than the working
voltage 3.05V. Under this condition, load encoder has been replaced the battery
1.负载编码器经历过电池更换操作
可能问题原因 2.负载编码器电池接线松动
Possible Causes 1.Load encoder has been replaced the battery
2.Load encoder battery wiring is too loose
1.执行正确的复位操作
排查处理 2.检查负载编码器连线，执行正确的复位操作
Troubleshooting 1.Perform correct reset operation
2.Check load encoder wiring and perform correct reset operation
0x7374
提示信息多圈位置错误
Messages Multiturn position error
负载编码器多圈保持用电池电压高于工作电压 3.05V 以上情况下负载编码器经历过
直接原因电池更换
Direct Causes When load encoder multiturn battery keeps holding voltage higher than the working
voltage (3.05V). Under this condition, load encoder has been replaced the battery
1.负载编码器经历过电池更换操作
可能问题原因 2.负载编码器电池接线松动
Possible Causes 1.Load encoder has been replaced the battery.
2.Load encoder battery wiring too loose.
1.执行正确的复位操作
排查处理 2.检查负载编码器连线，执行正确的复位操作
Troubleshooting 1.Perform correct reset operation.
2.Check load encoder wiring and perform1 correct reset operation.
（*1）模组报电池警告错误时不会丢失多圈数据。
（*2）正确的复位操作方法如图 10-3 所示，连接我司上位机软件，打开编
码器界面点击重置负载端编码器按钮。
（*1）Multiturn data will not be lost when the rotary actuator reports a battery
warning error.
（*2）The correct reset operation is shown in Fig.10-3. Connect to PC software,
open “Encoder” interface and click “Reset Load Encoder”.
第十二章多圈编码器电池欠压报警功能说明（带多
圈版本）
Chapter 12 Instruction of Battery Undervoltage Warning
of Multiturn Encoder— Multiturn Version
状态说明：
(1)电池状态：“0”为编码器电池供电电压低于 3.05V，“1”为编码器电池电
压正常供电，“×”为任意状态。
(2)48V 状态：“0”为模组 48V 不供电，“1”为模组 48V 电源供电。
Status instruction:
(1)Battery status: “0” indicates the battery power supply voltage of the encoder
is lower than 3.05V, “1” indicates the battery voltage of the encoder is normally
powered, and “×” means arbitrary state.
(2)48V status: “0” indicates the rotary actuator is not supplied power with 48V,
and “1” indicates the rotary actuator is supplied power with 48V.
12.1 48V 电源从关闭到已启动时的状态（01）
The status when 48V power supply from off to on (01)
情况 1：
Case 1:
前一次状态 Previous status 本次启动 Startup
电池 Battery 1 1
48V 0 01
状态 Status OK OK
描述：前一次状态是不存在报错的情况，模组启动是正常的，本次启动 CAN
和 EtherCAT 不上报错误。
Description: Under the condition that there were no error reports in previous
status, the rotary actuator starts normally. No errors are reported this time when
CAN and EtherCAT are started.
情况 2：
Case 2:
前一次状态 Previous status 本次启动 Startup
电池 Battery × 0
48V 0 01
状态 Status × NG
描述：前一次状态是任意状态，在模组启动时电池是没电的，本次启动 CAN
和 EtherCAT 上报错误“多圈掉电告警”，多圈丢失，但是伺服驱动器可使能。
Description: Under the condition that the previous status was in arbitrary status,
when the actuator was started, the battery was dead. The CAN and EtherCAT are
started this time with reporting multiturn power failure alarm error, the multiturn is
lost, but the servo drive can be enabled.
情况 3：
Case 3:
前一次状态启动前本次启动
Previous status Before startup Startup
电池 Battery 1 101 1
48V 0 0 01
状态 Status OK OK NG
描述：前一次状态是不存在报错的情况，在模组启动前执行拔出电池再插
回电池，且拔出时间约 8S（电容放电需要时间，可通过短接两端进行快速放电），
本次启动 CAN 和 EtherCAT 上报错误“多圈掉电告警”，多圈丢失，但是伺服
驱动器可使能。
Description: Under the condition that there were no error reports in previous
status, pull out the battery with 8 seconds (the capacitor discharge takes time, which
can be quickly discharged by both terminals of short-circuiting ) and then insert the
battery back before the actuator starts. CAN and EtherCAT are started with
reporting “multiturn power-off alarm” this time, then the multiturn is lost, but the
servo drive can be enabled.
12.2 48V 电源已启动时的状态（1）
The status when the 48V power supply has been activated
情况 1：
Case 1:
当前状态 Current status 在启动的状态下 Startup status
电池 Battery 1 ×
48V 1 1
状态 Status OK OK
描述：若启动时当前状态为正常的，在启动的状态下电池的任意状态都不
会出现报错，CAN 和 EtherCAT 不上报任何错误，多圈值不会丢失。
Description: If the current status is normal, no error will be reported under
arbitrary status when operating. CAN and EtherCAT will not report errors, the
multiturn value will not be lost.
12.3 48V 电源启动到关闭再启动时的状态（101）
The status when 48V power supply from startup to close to restart-
up (101)
情况 1：
Case 1:
当前状态在启动的状态下模组进行重启
Current status Startup status Restart the rotary actuator
电池 Battery 1 10 0
48V 1 1 101
描述：若启动时当前状态为正常的，在启动的状态下电池的电压降至 3.05V
以下，CAN 和 EtherCAT 不上报任何错误，多圈值不会丢失，当模组进行重启
后，CAN 和 EtherCAT 上报错误“多圈掉电告警”，多圈丢失，但是伺服驱动
器可使能。
Description: If the current status is normal at startup, and the battery voltage
drops below 3.05V under startup condition, CAN and EtherCAT will not report any
errors, and the multiturn value will not be lost. When the rotary actuator restarts,
CAN and EtherCAT will not report “multiturn power-off alarm”, and the multiturn
will be lost, but the servo drive can be enabled.
情况 2：
Case 2:
当前状态在启动的状态下模组进行重启
Current status Startup status Restart the actuator
电池 B attery 1 101 1
48V 1 1 101
描述：若启动时当前状态为正常的，在启动的状态下电池的电压降至 3.05V
以下，CAN 和 EtherCAT 不上报任何错误，多圈值不会丢失，当模组进行重启
后，CAN 和 EtherCAT 上报错误“多圈电池欠压”，多圈丢失，但是伺服驱动
器可使能。
Description: If the current status is normal at startup, and the battery voltage
drops below 3.05V under startup condition, CAN and EtherCAT will not report any
errors, and the multiturn value will not be lost. When the rotary actuator restarts,
CAN and EtherCAT will not report the” multiturn battery with low voltage” error,
and the multiturn is lost, but the servo drive can be enabled.
第十三章减速比的解析
Chapter 13 Gear Ratio Analysis
关节模组中的输出端是电机是通过减速机后输出的，而电机端速度换算到
输出端速度需要通过减速比计算，公式是：
��输出端 = ��电机端 ÷ （ � + 1 ）
��输出端是输出端速度，单位：转/分；
��电机端是电机端速度，单位：转/分；
X 是减速比，之所以要除以（X+1）是和减速机采用波发生器输入，钢轮
输出，柔轮固定的安装方式有关。
The rotary actuator output side is outputted after the motor passed through the
gear, and the conversion from motor speed to the output speed needs to be
calculated by the gear ratio. The formula is:

RPM output shaft = RPM motor ÷（X  1）
RPM output shaft is output speed, unit: revolution/minute;
RPM motor is motor speed, unit: revolution/minute;
X is gear ratio, and the reason why dividing by （X  1） is related to the gear
installation method, that is ,the input is wave generator; the output is circular spline;
and the fixation of installation is flexspline.
关于速度设定和速度转换：
模组中有两个编码器，电机端编码器（17 位）和负载端编码器（19 位）。
模组是开启全闭环运行，所以运行速度设定是直接设定输出端的转速,速度反馈
是输出端的转速反馈。
About speed setting and speed conversion:
There are two encoders in a rotary actuator, encoder for motor (17 bit) and
encoder for output shaft (19 bit). The rotary actuator runs with dual loop position
control, so the way to set the operating speed is setting the output rotational speed
directly. The speed feedback is the rotational speed feedback of the output.
图 13-1 速度设定界面
Fig. 13-1 Speed setting interface
1、关节速度单位（count/s）的转速�和国际单位（RPM）的转速�转换公
式：
�
�= × 60
524288
（524288 为负载端 19 位编码器的分辨率）
The conversion formula between eRob rotational speed V (unit: count/s)
and international rotational speed N (unit: RPM):
�
�= × 60
524288
（524288 is the resolution of 19-bit encoder in the output shaft）
2、关节速度单位（count/s）的转速�和角度单位（°/s）的转速�转换公式：
�
�= × 360
524288
The conversion formula between eRob rotational speed V (unit: count/s)
and rotational speed D (unit: °/s):
�
�= × 360
524288
3、关节速度单位（count/s）的转速�和弧度单位（rad/s）的转速�转换公
式：
�
�= × 2π
524288
The conversion formula between eRob rotational speed V (unit: count/s) and
rotational speed R (unit: rad/s):
�
�= × 2π
524288
4、加（减）速度设定：推荐加（减）速时间≥0.3s，加速时间为关节从 0
速到达目标速度所需的时间，减速时间为关节从目标速度到达 0 速所需的时间，
速度与加（减）速度关系：
目标速度
加（减）速度 =
加（减）速时间
Set acceleration/deceleration: It is recommended to set the acceleration/
deceleration time ≥0.3s. The acceleration time is the required time for the eRob to
reach the target speed from 0. The deceleration time is the required time for the
eRob to reach 0 from the target speed. The relationship between speed and
acceleration/deceleration:
��
��/�� =
��/��
5、各关节型号的最大转速如表 13-1 所示。
The max. rotational speed for each model of eRob is as shown in Table 13-1.
表 13-1 各关节型号最大转速
Table 13-1 Max. rotational speed of each model of eRob
输出端最大转速输出端最大转速输出端最大转速

推荐加减速时间
关节减速比（count/s）（RPM）（°/s）
（S）
型号 Gear Max. rotational Max. rotational Max. rotational
Recommended
Model ratio speed of the speed of the speed of the
Acc/dec time
output（count/s） output（RPM） output（°/s）
50 524288 60 360 ≥0.3

eRob70F
100 262144 30 180 ≥0.3
50 524288 60 360 ≥0.3
eRob70H 80 327680 37.5 225 ≥0.3
100 262144 30 180 ≥0.3
50 524288 60 360 ≥0.3
eRob80H 80 327680 37.5 225 ≥0.3
100 262144 30 180 ≥0.3
50 524288 60 360 ≥0.3
eRob90H 80 327680 37.5 225 ≥0.3
100 262144 30 180 ≥0.3
50 349525 40 240 ≥0.3
80 218453 25 150 ≥0.3

eRob110H
100 174763 20 120 ≥0.3
120 145927 16.7 100.2 ≥0.3
50 349525 40 240 ≥0.3
80 218453 25 150 ≥0.3

eRob142H
100 174763 20 120 ≥0.3
120 145927 16.7 100.2 ≥0.3
50 349525 40 240 ≥0.3
80 218453 25 150 ≥0.3

eRob170H
100 174763 20 120 ≥0.3
120 145927 16.7 100.2 ≥0.3
第十四章连接调试上位机
Chapter 14 PC Connection and Debugging
第一步：CAN 调试器接线，PE 不接，L 接 CAN_L，G 接 GND,H 接 CAN_H，
R 拨码开关 1 或者 2 的其中一个拨到 ON，另一个不拨，然后将调试器与关节
连接。
Step 1: Wiring the CAN debugger, do not connect PE, connect L to CAN_L,
connect G to GND, connect H to CAN_H, switch 1 or 2 to ON in R DIP switch, and
do not move the other one, then connect the debugger to the rotary actuator.
图 14-1 CAN 调试器接口图
Fig. 14-1 CAN Debugger Interface

第二步：USB 转 CAN 驱动安装，在我司官网下载最新 eTunner 上位机软
件，解压压缩包，打开文件夹：eTunner_V13.51\Driver_installation，鼠标双击
驱动程序进行驱动安装（如图 14-2）。
Step 2: Install “USBCANWDM.INF”. Download the latest eTunner PC
software in ZeroErr official website, unzip the compressed package and open
eTunner_V13.51\Driver_installation. Then double click the DriveSetup program to
install the drive (as shown in Fig.14-2).
DriverSetup 32bit
DriverSetup 64bit
Install
Confirm
图 14-2 CAN 调试器驱动安装
Fig.14-2 Debugger drive installation

第三步：打开软件，如图 14-3 所示，按照以下步骤连接关节。
Step 3: Open the software and follow the steps below to connect the actuator as
shown in Fig 14-3..

1 1.点击连接设置，打开连接界面
5
4 2.点击连接测试，等待扫描结束
3. 点击加入列表
3 4. 点击列表中的已加入的设备
2
5.点击连接
6.连接成功，并显示关节 CAN ID 等参
6
数。
注：设备已加入列表只需重复步骤 4、5、
6。
1.Click “Connect” to open “Connect
Settings” interface.
2.Click “Scanning” to test, wait for

图 14-3 上位机连接步骤
Fig. 14-3 PC connection steps Scanning finish.
3. Click “Add List”.

4.Click the device has been added.
5.Click “Connect”.
6.Connect successfully and display CAN
ID etc. parameters.
Note: The equipment has been added, just
need to repeat step4, step5, and step6.

第十五章关节试运行
Chapter 15 Trial Run for Rotary Actuator
界面介绍 Interface introduction:
图 15-1 软件运动界面
Fig. 15-1 “MotorMovement” interface

1．点击“使能”按钮电机使能并自动打开刹车。
2．关节输出端的当前位置显示和速度参数设定，数值是以编码器分辨率为单
位，加加速度是设置从加到达设定加速度的时间（设置值越大越接近 S 型速
度曲线，越小越接近 T 型速度曲线），默认设定 50us，停止时间是设置点对
点往返运动折返时的停留时间。
3．设定目标位置，使电机运动至设定位置，勾选往返使电机在当前位置和目
标位置之间往返运动。
4．设定相对运动位移值，使电机向前或向后移动一段设定的位移值，勾选往
返使电机在当前位置与目标位置之间做往返运动。
5．不勾选持续时点击“向前”或“向后”点动运动，勾选持续后点击“向前”
或“向后”按钮使电机连续运动。
6．以设定减速度减速停止，但电机不失能，刹车不会制动。
7．限速功能：“应用加减速限制所有运动”勾选时，关节运动同时受限于运
动界面设定的加减、速度限制以及安全速度界面设定的最大允许速度限制，
当运动界面的“应用加减速限制所有运动”不勾选时，关节运动仅受限于安
全速度界面设定的最大允许速度限制。
1. Click “Enable”. The motor is enabled, and the brake is released automatically.
2. The current “Position” value is displayed and set the“Speed” which takes the
encoder resolution as the unit. The “Jerk” is the time for the eRob achieves the set
acceleration from 0 (The larger the setting value, the closer to the S-type speed
curve; the smaller the setting value, the closer to the T-type speed). The default
setting is 50us. The “Stop Time” is the dwell time when setting point-to-point
reciprocating motion.
3.Set a target position and make the motor move to there. Tick “Repetitive” and
make the motor move back and forth between the current position and target
position.

4.Set the relative motion displacement value, make the motor move forward or
backward by a set displacement value. Tick “Repetitive” and make the motor
operate the reciprocating motion at the current position with the set displacement.
5.Do not tick “Continuous” and click “Forward” and “Backward” to make the
motor move; click “Continuous”, click “Forward” and “Backward” to make the
motor to move continuously.
6.Decelerate with the set “Dec” to stop. Although the motion is stopped,
the motor is not disabled and the brake keeps releasing.
7.Speed limit function: When “Limit Move (Acc, Dec)” is ticked, the rotary
actuator motion is limited by the “Acc.”, “Dec”,“Speed limit” (set in
“MotorMovement” interface) and “Max Motor Speed” (set in the “Speed”
interface). When “Limit Move (Acc, Dec)” is not ticked, the actuator motion is
only limited by the “Max Motor Speed” set in the “Safe Speed” interface.
图 15-2 软件主界面马达停止按钮
Fig. 15-2 “Motor Stop” button on the main interface of the software
电机空载试运行步骤：
1．核对速度参数不超过最大允许速度(查看安全速度界面），建议一开始请
先设定低转速运行。
2．运动先点击使能，确认刹车已打开（刹车打开会有“哒”的一声）。
3．点击持续运动中的“向前”，电机向前运动，观察电机运行状态。
4．点击停止，电机减速停止（注：运行中不可以直接点击主界面的马达停止）。
5．点击软件主界面中的马达停止，电机失能刹车制动，试运行完毕。

Steps for no-load trial run of the motor:

1．Check the “Speed” does not exceed the permissible maximum speed in
“Speed” interface. It is recommended to set a lower speed operation at the
beginning.
2．Click “Enable” before moving and confirm that the brake is released (there
will be a “click” sound when the brake is released).
3．Click “Forward” in the “Repetitive”, the motor moves forward, and observe
the operation status of the motor.
4．Click “Stop”, the motor will decelerate and stop. (Note: Do not directly click
“Motor Stop” on the main interface during operation).
5．Click “Motor Stop” in the main interface of the software, the motor is
disabled and the brake works. The trial run is finished.

第十六章带负载后的 PID 整定
Chapter 16 PID Tuning with Load
带负载后只需要整定速度环和位置环的 PID，首先打开上位机主界面示波
器和 PID 设置，点击如图 16-1 所示图标按钮。
After loading, tune the PID of speed loop and position loop. First, open the
“Oscilloscope” and “PID” on the main interface of the host computer, and click the
icons as shown in Fig.16-1.
图 16-1 主界面 PID 设置和示波器
Fig. 16-1 PID settings and Oscilloscope in main interface
16.1 速度环调节
Speed loop adjustment
1.首先在示波器界面选择目标速度（限幅）、实际速度为观察源，采样间
隔为 500 微秒/点，采样时长为 2s，以目标速度（限幅）作为触发源，触发条件
为不等于 0 且触发位置选择在 0%，并点击“开始采集”按钮，使示波器处于
“等待触发”状态，如图 16-2 所示。
First, select the “Target Speed (limiting amplitude)” and “ Actual Speed” as
“Signals” in the oscilloscope interface; the “Interval” is “500 usec/point”, the

“Time” is “2 sec”. The “Target Speed (limiting amplitude )” is used as the “Signal”,
the “Condition” is “!=” and “Position” select “0%”, click “Start sampling” to make
the oscilloscope in the status of “Waiting for triggering”, as shown in Fig.16-2.
图 16-2 示波器设置
Fig. 16-2 Oscilloscope Settings
2.在 PID 设置界面（如图 16-3）设置速度环激励频率，推荐使用 1Hz，激
励速度一般设定为（524288/减速比），PID 在原有基础值上去调节，点击“激
励速度”按钮；此时电机会响应跟随激励速度且示波器会进行数据采集。
Set “Excit Frequency” of speed loop in “PID Adjust” interface as shown in
Fig.16-3, the recommended value is 1Hz. The “Excit Speed” is generally set to
524288/gear ratio; Tune PID from the original basic value. Click “Excit Speed”; at
the moment, the motor will response following the excit speed and the oscilloscope
will collect data.

图 16-3 PID 设置界面激励速度
Fig. 16-3 Excit Speed in PID setting interface
3.先调整增益，波形在刚好超调一点，但是未出现过大的震荡即可。然后
调节积分，积分数值一般不用给太高，适当消除震荡即可。最终波形应该接近
图 16-4 的波形。
Adjust “Speed Loop Gain” first, and it is acceptable that the waveform is
without excessive oscillation. Then adjust “Speed Loop Integral”, the value does not
need to be set too large, which can eliminate oscillation properly. The final
waveform should be close to the one as shown in Fig.16-4.
图 16-4 速度环激励响应波形
Fig. 16-4 Speed loop excitation response waveform

4.调节完毕后，主界面点击“停止电机”按钮，然后在 PID 设置界面左下

角点击“应用”按钮，并在主界面中点击“保存”按钮用于将参数进行保存（约
3s 后保存完成），以防止驱动器重启后还原为原来参数。
Click “Motor Stop” after the completion of adjustment. Click “Apply” in the
left bottom of PID Adjust interface, then click “Save” in the main interface to save
parameters (save command will be completed after about 3 seconds), thereby
avoiding reverting into original parameters after the drive restarts.
16.2 位置环调节
Position loop adjustment
1.首先在示波器界面选择目标位置（限幅）、实际位置为观察源，采样间
隔为 500 微妙/点，采样时间为 2s，以目标位置（限幅）作为触发源，触发条件
为不等于 0 且触发位置选择在 0%，并点击“开始采集”按钮，使示波器处于
“等待触发”状态，如图 16-5 所示：
Step 1 : Select “Target Position (limiting amplitude)” and “Position” as the
“Signals” in oscilloscope interface, the “Interval” is “500 usec/point”, the “Time” is
“2 sec”; use “Target Position (limiting amplitude)” as “Signal”, and “Condition” is
“!=” and “Position” select “0%”, then click “Start sampling” to make oscilloscope
in the status of “Waiting for the trigger”, as shown in Fig.16-5.
图 16-5 示波器设置
Fig. 16-5 Oscilloscope setting
2.在 PID 设置界面（如图 16-6）设置激励频率，推荐使用 1Hz，激励位置

一般设置为（52428/减速比），PID 在原有基础值上去调节，点击“激励位置”
按钮；此时电机会响应跟随激励位置且示波器会进行数据采集。
Step 2 : Set “Excit Frequency” in PID Adjust interface as shown in Fig.16-6,
the recommended value is 1Hz. The “Excit Position” is generally set to 52428/gear
ratio; adjust PID from the original basic value. Click “Excit Position”; at the
moment, the motor will response following the excit position and the oscilloscope
will collect data .
图 16-6 PID 设置界面激励位置
Fig. 16-6 Excit Position in PID setting interface
3.调整增益，最终波形应该接近图 16-7 的波形
Step 3 : Adjust “Pos Loop Gain”, the final waveform should be close to the one
shown in Fig.16-7

图 16-7 位置环激励响应波形
Figure 16-7 Position loop excitation response waveform
4.调节完毕后，主界面点击“停止电机”按钮，然后在 PID 设置界面左下
角点击“应用”按钮，并在主界面中点击“保存”按钮用于将参数进行保存（约
3s 后保存完成），以防止驱动器重启后还原为原来参数。
Step 4 : Click “Motor Stop” after the completion of adjustment. Click “Apply”
in the left bottom of “PID Adjust” interface, then click “Save” in the main interface
to save parameters (save command will be completed after about 3 seconds),
thereby avoiding reverting into original parameters after the drive restarts.
16.3 EtherCAT 动态修改 PID 功能
EtherCAT dynamically modify PID function
除了通过上位机可修改 PID 参数外，还可通过 EtherCAT 通信动态修改 PID
参数。首先需在上位机 PID 调节界面勾选“使用总线调节 PID”功能并应用保
存（如图 16-8 所示），否则修改无效。然后通过 SDO 访问 2381 h：01 h（速度
环增益）、2381 h：02 h（速度环积分）、2382 h：01 h（位置环增益）即可动态修
改 PID 参数（电流环参数未开放修改，出厂已设置好不需修改）。
In addition to being modified by the PC, the PID parameters can also be
modified dynamically through the EtherCAT. First, tick “Bus Adjust PID” in “PID

Adjust” interface as shown in Fig.16-8, then click “Apply” and “Save”, otherwise
the modification will be invalid. Then, visit 2381 h: 01h (speed loop gain), 2381 h: 02 h
(speed loop integral), and 2382 h: 01h (position loop gain) through SDO to
dynamically modify PID parameters (Current loop parameters are not available to
modify. They are factory settings, do not need to be modified).
使用总线调节 PID 注意事项：
当需要使用 EtherCAT 修改 PID 参数的时候，则需要使用上位机勾选“使
用 EtherCAT 修改 PID”的选项，否则将无法使用 EtherCAT 修改 PID 参数。
Attentions on using Bus Adjust PID:

Tick “Bus Adjust PID” first when EtherCAT modify PID parameter function is
needed, otherwise the function cannot be used.
图 16-8 勾选使用总线调节 PID
Fig. 16-8 Tick “Bus Adjust PID”
使用 EtherCAT 修改 PID 参数，之后若需要使用上位机对 PID 参数进行修

改，则需要进行如下操作，避免上位机修改 PID 无法生效，变成介于原始值与
目标值之间的值：
①先对“使用总线修改 PID”取消勾选；
②应用保存；
③重新进入 PID 调节界面进行修改 PID 参数。
EtherCAT 动态修改 PID 功能所涉及的相关对象字典描述详见《 eRob

CANopen and EtherCAT 用户手册_V1.2》第 8.2 章节。

If the operation of using PC to modify PID parameters is needed after using
EtherCAT to modify PID parameters, please follow the operation steps below to
avoid the PC modifying PID operation from not taking effect and becoming a value
between the original value and the target value :
①Untick “Bus Adjust PID”;
②Tick “Apply” and “Save”
③Reenter into “PID Adjust” interface and modify the PID parameters.
EtherCAT dynamically modifies PID function and the description of the related
object dictionary, please refer to Section 8.2 in eRob CANopen and EtherCAT User
Manual.

第十七章特殊功能说明
Chapter 17 Special Function Introduction
17.1 PDO 动态配置功能
PDO dynamic configuration
eDriver 系列 PDO 映射的预定义列表中， 0x1A00/0x1600 映射
TxPDO/RxPDO 支持任意 mapping 配置（可配置 PDO 总字节数最大为 80 个字
节），包括但不限于 TxPDO：6041 h、6064 h、606C h、6061 h 等，RxPDO：6040 h、
607Ah、6065 h、6060h 等。
说明：因 ESC 芯片特性，若需配置一个 8 位长度对象索引（如 6060 h/6061 h），
则需同时配置一个空 8 位（bit8）以 2 字节（16bit）对齐。
PDO 映射列表描述详见《eRob CANopen and EtherCAT 用户手册_V1.0》第
三章。
In the predefined list of eDriver series PDO mapping, 0x1A00/0x1600
mapping TxPDO/RxPDO supports any mapping configuration (the total number of
configurable PDO bytes is up to 80 bytes), including but not limited to TxPDO:
6041 h, 6064 h, 606C h, 6061 h etc, RxPDO: 6040 h, 607A h, 6065 h, 6060 h , etc.
Note: Due to the characteristics of the ESC chip, if you need to configure an
8-bit length object index (such as 6060 h/6061 h ), you need to configure an empty
8-bit (bit8) at the same time to align with 2 bytes (16bit).
More details about PDO mapping list description, please refer to Chapter 3 in
eRob CANopen and EtherCAT User Manual.

17.2 可变积分上限的 PID 控制功能
PID control function of variable integral upper limit
通过 CAN 访问参数 ID：97（十进制）可对“速度环积分上限”参数（参

数属性：INT32，不保存到 flash，可读写，单位为 mA）进行读写操作，也可
在关节运行时修改。
Access parameter ID ： 97 (decimal) through CAN can proceed reading and
writing operations on “Speed Loop Integral Upper Limit” parameters (parameter
properties: INT32, not saved to flash, can be read and written, unit: mA) and also
can modify parameters while the rotary actuator is running.
功能使用说明：
1. 将积分上限设为 0 可消除累积的速度环积分值。
2. 恢复积分限制的值为原来设定值的时候，会有冲击，建议平缓增加（每
周期增加的合适值视实际运行平稳程度而定，建议从小到大给看实际效果）。
3. “可变积分上限的 PID 控制”除了可以消除积分为 0 外，合适的变积分
上限会令伺服运行更稳定，容许更大的比例增益，更快的响应速度。
Function instructions:
1. Setting integral upper limit to 0 can eliminate the accumulated speed loop
integral value.
2. Restoring integral limit value to the original set value will cause shock.
Therefore, it is recommended to increase the value gently (the increased appropriate
value of each cycle depends on the actual smoothness of operation, and it is
recommended to increase from small value to large value to see the actual effect).
3. PID control of variable integral upper limit can not only eliminate the
integral being 0, but also can properly change integral upper limit, which makes the
servo running more stable and allows a larger proportional gain and quicker
response speed.
第十八章各方向受力允许值
Chapter 18 Permissible Forces in All Directions
18.1 弯矩受力计算
Bending force calculation
最大负载静力矩(M mɑx)的计算方法如下：
请确认 Mmɑx≤Mc （公式符号说明详见表 18-2）
Mmɑx=Fr mɑx (Lr+R)+Fa mɑx·La （公式符号说明详见表 18-1）
Maximum load moment load calculation formula is as below:
Please confirm Mmɑx≤Mc (Refer to Fig.18-2 for detailed symbols of formula)
Mmɑx=Fr mɑx (Lr+R)+Fa mɑx·La (Refer to Fig.18-1 for detailed symbols of formula)
表 18-1 公式符号说明
Table 18-1 Formula signal instruction
最大径向负载参照下图
Fr max N(kgf)
Max. radial load Ref. Fig.18-1
最大轴向负载参照下图
Fa max N(kgf)
Max. axial load Ref. Fig.18-1
参照下图
Lr、La -- m
Ref. Fig.18-1
偏置量参照下图及各系列的规格表
R m
Offset amount Ref. Fig.18-1 and specification table of each series

Actuator
Load end Fixed end
Radial load
Load bearing point
Axial load
图 18-1 外部负载作用图
Fig. 18-1 External load influence diagram
表 18-2 各关节型号容许力矩值
Table 18-2 Permissible momentary torque values of each actuator model
偏置量
关节型号容许力矩负重 Mc
Offset amount
Actuator models Permissible torque load (Mc)
R
Model m Nm kgfm
eRob70F 0.0111 37 3.8
eRob70 0.0217 74 7.6
eRob80 0.0239 124 12.6
eRob90 0.0255 187 19.1
eRob110 0.0296 258 26.3
eRob142 0.0364 580 59.1
eRob170 0.044 849 86.6
例：已知选用 eRob70H 型关节，La=0.2m, Lr=0.5m, Fr max =50N,Fa max =30N。
查表 18-2 知：R=0.0217m，Mc=74Nm。
带入公式 Mmax =Fr max (Lr+R)+Fa max ˙La
Mmax =50×（0.5+0.0217）+30×0.2

Mmax =32.085Nm
因为：Mmax (32.085Nm)≤Mc(74Nm)，所以符合使用弯矩要求。
For example: choose eRob70H, La=0.2m, Lr=0.5m, Fr max =50N, Fa max =30N.
Check table 18-2: R=0.0217m，Mc=74Nm.
Bring in formula and calculate:
Mmax =Fr max (Lr+R)+Fa max ˙La
Mmax =50×（0.5+0.0217）+30×0.2
Mmax =32.085Nm
The calculation result is Mmax (32.085Nm) ≤Mc(74Nm), so it meets the usage
requirements of bending.
18.2 eRob 关节承载能力值
eRob rotary actuator bearing capacity

表 18-3 各关节型号承载能力值
Table 18-3 Bearing capacity of each actuator model
关节型号基本动额定负载 C 基本静额定负载 Co 容许力矩负重 Mc 力矩刚性 Km
Actuator Basic dynamic rated load C Basic static rated load Co Permissible moment load Mc Moment rigidity Km
models ×10 2 N kgf ×10 2 N kgf N·m kgf·m ×10 4Nm/rad Kgfm/arcmin
eRob70F 29 296 43 438 37 3.8 7.08 2.1
eRob70 58 590 86 880 74 7.6 8.5 2.5
eRob80 104 1060 163 1670 124 12.6 15.4 4.6
eRob90 146 1490 220 2250 187 19.1 25.2 7.5
eRob110 218 2230 358 3660 258 26.3 39.2 11.6
eRob142 382 3900 654 6680 580 59.1 100 29.6
eRob170 433 4410 816 8330 849 86.6 179 53.2

18.3 减速机棘爪扭矩
Ratcheting torque
机器人关节模组运转中受到过度的冲击转矩作用时，在减速机柔轮等未发
生破损的状态下刚轮和柔轮齿轮的啮合会瞬间发生偏移，这种现象被称为棘爪。
此时的转矩被称为棘爪扭矩(棘爪扭矩的数值参照下表 18-4 )。如果发生棘爪现
象仍继续使其运转，会由于棘爪发生时产生的磨损粉尘导致齿轮发生早期磨耗，
缩短波发生器轴承的使用寿命。
When the rotary actuator is subjected to excess impact torque during operation,
the engagement of the teeth between the circular spline and the flexspline may be
put momentarily out of alignment instead of damaging the flexspline. This
phenomenon is called “ratcheting”, and the torque is called “ratcheting torque” (see
values in Table 19-4). Operating without fixing ratcheting will result in earlier
abrasion of the teeth and shorter life of the wave generator bearing due to the effect
of the grinding powder generated by ratcheting.

表 18-4 机器人关节发生棘爪的扭矩值（单位：Nm）
Table 18-4 Ratcheting torque values of each models (unit: Nm)
型号
Model
速比 eRob70F eRob70 eRob80 eRob90 eRob110 eRob142 eRob170
3.
Gear ratio
50 88 88 150 220 450 980 1800
80 - 110 200 350 680 1400 2800
100 84 84 160 260 500 1000 2100
120 - - 120 240 470 980 1900
齿轮啮合正常形态如图 18-2 所示。当发生棘爪时可能会出现齿轮啮合不正
常，如图 18-3 所示，呈单侧偏移的状态。此时继续运转会发生振动，引起柔轮
破损。
Fig.18-2 shows the correct engagement of teeth. When ratcheting happens, the
teeth may not be correctly engaged and become out of alignment as shown in Fig.
18-3. Continue to operate in this condition will generate vibration and damage the
flexspline.
图 18-2 齿轮正常啮合示意图图 18-3 齿轮啮合偏移示意图
Fig. 18-2 Correct engagement of teeth Fig. 18-3 The engagement of the teeth is out of
alignment
以 eRob90H100I 为例，当发生棘爪时继续以速度 5242count/s（此时电机端
转速为 1r/s）运转（当严重棘爪时关节为空载状态运行也可能出现报警），用
示波器采集电机电流波形（如图 18-4 所示，示波器设置观察源为：电机电流、
电机转角，采样间隔 1ms，采样时长 4s），可以看出电机电流呈现电机端转一
圈出现一次较大电流波动。当发生棘爪时，若关节带负载继续运行，将出现电
流过大、电机堵转保护、位置误差超限、速度误差超限、功率温度过高等报警。
发生棘爪后的关节不可继续使用。
Taking eRob90H100I as an example, operating at a speed of 5242count/s when
ratcheting (motor rotational speed is 1r/s at this moment) (when serious ratcheting
is caused, operating the actuator with no- load may also result in alarm) , using
oscilloscope to collect the current waveform of the motor (as shown in Fig.18-4, set
motor current and motor corner as the “Signal” sources ; sampling “Interval” is
1ms ; sampling “Time” is 4s.), will result in a large current fluctuation. When

serious ratcheting happens, operating the rotary actuator with load will generate
alarm, such as excess current, motor struck protection, position error exceeded,
speed error exceeded, and power temperature being too high etc. The rotary actuator
can no longer be used after ratcheting.
motor current
waveform with ratcheting normal waveform motor rotating cycle
图 18-4 发生棘爪时电机电流波形
Fig. 18-4 Current waveform when ratcheting happens
发生一次棘爪后齿顶会出现磨耗，如图 18-5 所示，正常形态如图 18-6 所示。
发生两次以上时棘爪的发生转矩值将会降低。
Once a ratcheting happens one time, the teeth tips are worn as shown in
Fig.18-5 and Fig.18-6 shows the normal teeth tips. Once ratcheting happens more
than two times, the torque value will be lowered.

图 18-5 齿轮棘爪齿顶磨损图图 18-6 齿轮正常齿顶图

Fig. 18-5 The tips of the teeth are worn Fig. 18-6 The normal teeth tips

第十九章关节安装要求
Chapter 19 Rotary Actuator Installation Requirements
Connecting flange Installation base
图 19-1 关节安装示意图
Fig. 19-1 Rotary actuator installatio n
Circular spline
Output shaft
cannot afford force
within Φd range
图 19-2 关节安装要求示意图
Fig 19-2 Rotary actuator installation requirement

19.1 连接法兰止口要求
Seam allowance requirement of flange connection
负载端止口的深度必须扣到图 19-1 图示位置，具体模组型号对应深度如表
19-1。连接法兰端面不允许有披锋等凸起；注意钻孔易引起的孔口凸起，批锋
等; 且法兰设计必须有Φd 深 0.3 的避空位，关节模组输出轴Φd 范围内不可受
力（如图 19-2 所示），如因客户法兰设计不到位导致输出轴Φd 范围内受力造
成的模组损坏，不在保修范围内。
The seam allowance in load must be buckled on the designated position as
shown in Fig.19-1. The seam allowance length for specific actuator is shown in
Table 19-1. The flange mating face is not allowed to have protrusions such as flash;
pay attention to the orifice protrusions, flash etc., which can be caused by drilling
easily. The design of flange must be equipped with a vacant space in 0.3 Φd depth.
Rotary actuator output shaft cannot afford force within Φ d range (as shown in
19-2). The damage of rotary actuator caused by output shaft bearing forces within
Φd range due to customers’ improper flange design is not covered by the warranty.

表 19-1 安装尺寸要求
Table 19-1 Seam allowance parameters
模组型号 D 输出轴 (mm) D 刚轮 (mm) L 输出轴 (mm) D(mm) L(mm) d(mm) 止口圆度止口平面度
Model Doutput (mm) D circular spline L output (mm) Seam Seam
(mm) 1. allowance allowance
roundness flatness
eRob70F ∅48.6 ∅49 0−0.016 3 ∅49 +0.016

0 4.5 ∅38.3 0.01 0.01
eRob70 ∅49.6 ∅50 0−0.016 4 Ø50 +0.016
0 6 ∅39 0.01 0.01
eRob80 ∅59.6 ∅60 0−0.019 5 Ø60 +0.019
0 7 ∅49 0.01 0.01
eRob90 ∅69.6 ∅70 0−0.019 5 Ø70 +0.019
0 7 ∅56 0.01 0.01
eRob110 ∅84.6 ∅85 0−0.022 5 Ø85 +0.022
0 7 ∅70 0.01 0.01
eRob142 ∅109.6 ∅110 0−0.022 7 Ø110 +0.022
0 9 ∅91 0.01 0.01
eRob170 ∅134.6 ∅135 0−0.025 7 ∅135 +0.025
0 10 ∅102 0.01 0.01
注意：未按照关节输出端连接法兰的安装要求，可能会导致输出轴发生变形，进而导致扭矩
传感器无法正常工作，甚至发生不可逆的破坏。
Note: Without obeying the installation requirement of output shaft connecting flange may cause the
output shaft deformation, then the torque sensor cannot work properly even cause irreversible
damage.
19.2 螺丝锁紧手法
Screw locking method
使用对角的方法对螺丝进行锁紧，第一步先将螺丝拧到底而不拧紧，第二
步按对角的步骤将螺丝稍微拧紧，第三步按对角的步骤用扭矩扳手将螺丝拧紧。
Use diagonal method to tighten screws. The first step is to turn screws to the
bottom without tightening it. The second step is to slightly tighten screws via the
diagonal method. The third step is to use torque wrench to tighten screws via the
diagonal method.

19.3 螺丝扭矩标准
Screw torque standard
螺丝锁紧力参考表 19-2。
Refer to Table 19-2 for screw locking force.

表 19-2 螺丝锁紧扭矩表
Table 19-2 Screw locking torque
螺丝型号
M3 M4 M5 M6
Screw model
锁紧扭矩
2 Nm 4 Nm 9 Nm 15 Nm
Locking torque
前提是内螺纹侧材质能够承受螺栓拧紧扭矩。
特别说明
The premise is that the material on the female thread side can withstand the
Note
screw locking torque.
螺钉强度等级: 12.9 级
Screw strength class: level 12.9
19.4 常见的非正常安装
Common improper installation
1.仅有平面安装，定位不足，如图 19-2。
Positioning deficiency, only have plane installation. As shown in Fig.19-2:
图 19-2 缺少定位止口
Fig. 19-2 Lack of positioning seam allowance

2.定位深度不够，达不到有效定位，如图 19-3。
Insufficient positioning depth, fail of efficient positioning. As shown in
Fig.19-3:
图 19-3 定位止口深度不足
Fig. 19-3 Insufficient positioning seam allowance depth
3.由于钻孔引起翻边凸起，如图 19-4
Flange protrusion caused by drilling. As shown in Fig.19-4:
图 19-4 螺丝过孔翻边凸起
Fig. 19-4 Flange protrusion
4.由于加工不良，平面度超差，如图 19-5。
The flatness is out of tolerance due to poor processing. As shown in Fig.19-5.
图 19-5 机加工平面度不足
Fig. 19-5 Insufficient machining flatness

5.由于安装方式不对，影响模组受力情况，如图 19-6。
The force of rotary actuator is affected due to the improper installation method
(as shown in Fig 19-6).
图 19-6 模组安装示意图
Fig. 19-6 Installation of rotary actuator
每个 eRob 关节在出厂时都经历了严格的抖动和噪音测试，不能达到安装
要求的，会出现抖动噪音等异常。
Each eRob rotary actuator has undergone strict jitter and noise tests before
delivery. Exceptions like jitter and noise will occur if the eRob cannot meet the
installation requirements.
19.5 严格清洁安装表面
Clean mounting face strictly
安装表面可能粘有金属屑、各类螺纹胶、密封胶、颗粒粉尘等，导致安装
面未实现可靠的配合，进而引起抖动和噪音，安装前请严格清洁安装表面。
The mounting face may be stuck with metal chips, various thread glues,
sealants, particles, and dust etc., which will cause the mounting face to achieve a
reliable fit with failure, thereby causing jitter and noise. please clean the mounting
face strictly before installation.

第二十章固件版本升级
Chapter 20 Firmware Version Upgrade
模组固件版本定义规则如下图 20-1 所示。
Definition rules of firmware version of rotary actuator are as shown in
Fig.20-1.
Model distinguishing Communication mode:

5:corresponding to eRob70/80 0: EtherCAT
1:corresponding to eRob90/110/142/170
Year: 1: CANopen
Clock:
2: 2022: 16 o’clock
Month:
Date:
11: Day 11
02: Feb
图 20-1 模组固件版本定义规则
Fig. 20-1 Definition rules of firmware version of rotary actuators

目前 eRob 关节模组固件的分类以及固件更新方式如下表 20-1 所示。
Current firmware types and upgrade method of eRob are as shown in Table 20-1.
表 20-1 固件版本类型以及升级说明
Table 20-1 Firmware types and upgrade methods instructions
固件类型固件文件支持模组类型固件在线升级方式
Firmware types Firmware files Supported actuator models Online upgrade methods
EtherCAT 版本 App_520211160_279408.bin eRob70/eRob80 通过“TwinCAT 软件”
EtherCAT eRob90/eRob110/eRob142 进行升级
version App_120211160_279408.bin /eRob170 Upgrade through
“TwinCAT” software.
CANopen 版本 eRob70/eRob80 通过“CANUpdataTool

CANopenApp_520216091.bin
CANopen Ver1.0.1 版本软件”进
version eRob90/eRob110/eRob142 行升级
/eRob170 Upgrade through

CANopenApp_120216091.bin
“CANUpdataTool
Ver1.0.1” software.

20.1 CANopen 固件升级
CANopen firmware upgrade
CANopen 升级步骤如下图 20-2 所示。
CANopen upgrade procedure is shown in Fig.20-2.
图 20-2 升级过程
Fig. 20-2 Upgrade process
等待升级完成，当进度条完成 100%后，表示升级完成，模组将会自动复位，
复位成功后，将会提示升级成功，并读取当前的固件版本号，如下图 20-3 所示。
When the progress bar is 100% completed, it means that the upgrade is
completed, and the rotary actuator will automatically reset. After resetting, it will
prompt that the upgrade is completed and read the current firmware version number,
as shown in Fig.20-3 below.

图 20-3 升级过程
Fig .20-3 Upgrade process
如果多个模组的 CAN 接口进行了级联，通过点击“扫描设备”按钮，则
可以将级联的设备都扫描出来，通过下拉列表，依次选择不同的模组的选项，
分别对每个模组进行单独升级。
If the CAN interfaces of multiple rotary actuators are cascaded, you can scan
all the cascaded devices by clicking the “Scan Device” button. Select the options of
different actuators in turn through pulling down the list and upgrade each rotary
actuator individually.
20.2 EtherCAT 固件升级
EtherCAT firmware upgrade
目前 EtherCAT 版本固件需要借助支持 EtherCAT FoE 功能的第三方软件(比
如倍福提供的 TwinCAT 软件)进行在线升级，具体的 EtherCAT 版本固件升级的
操作步骤可参考另外一份文档 : 《基于 FoE 的在线固件升级操作说明
_Ver1.5.pdf》。
At present, the EtherCAT firmware needs to be upgraded online with the help
of third-party software which supports the EtherCAT FoE function (such as the
TwinCAT software provided by Beckhoff). For specific operation steps of EtherCAT
firmware upgrade, please refer to another document Online firmware upgrade
operation instructions based on FoE_Ver1.5.pdf.

第二十一章恢复出厂参数功能
Chapter 21 Restoring Factory Parameter Function
如图 21-1 所示，恢复出厂参数操作步骤如下：
1.连接上位机软件，点击“参数存储”按钮，弹出“参数上传和下载”对
话框；
2.点击“恢复出厂参数”按钮，等待进度条显示完成，弹出图 21-1 提示框，
点击“确定”。
3.断电重启，再次连接上位机软件，确认参数已恢复，并点击“保存”按
钮，将恢复的参数进行保存。
The operation steps of restoring factory parameters are as shown in Fig. 21-1.
1.Connect PC software and then click “Parameter”, the “Upload and
Download”window pops up.
2.Click “Reset parameters” and wait until the progress bar is completed. Click
“Confirm” in the “Tips” window as shown in Fig.21-1.
3.Power off and restart, reconnect the PC software, confirm the parameters
are restored. Then click “Save” to save the restored parameters.
注意事项：
(1)只有当保存参数过程中因意外断电，造成部分参数丢失或全部丢失时才可
使用此功能恢复出厂参数。
(2)应用此功能时，请确认该模组的固件版本是最新发布的正式版本（固件版
本号为 X2040816X 及之后的固件版本，且是在 2022 年 4 月 8 日之后出货的模
组）。在此之前出货的模组都不支持该功能。

(3)在出现“注意事项（1）”的情况时，如果不满足“注意事项（2）”
所述条件，请及时联系我司技术支持工程师确认。
Attentions:
(1)The restoring factory parameter function can be used only when part of
parameters or all the parameters are lost due to unexpected power failure during the
process of saving parameters.
(2)When applying restoring factory parameter function, please confirm that
rotary actuators are equipped with the latest official version (firmware version
number is X2040816X or the later firmware versions, and the eRob must be
delivered after April 8, 2022). Actuators delivered before this date cannot support
this function.
(3)In the case of “Attention (1)” but not meeting the conditions of “Attention (2)”,
please promptly contact our technical support engineers for confirmation.
Confirm
图 21-1 恢复出厂参数操作
Fig. 21-1 Operation of restoring factory parameters

第二十二章扭矩传感器
Chapter 22 Torque Sensor
1.理想情况下的谐波减速机的传动方程：
其中，为柔轮输出端角度值，为波发生器输入端的角度值，代表
的是减速机的齿轮比。
2.谐波减速机的实际传动方程：
其中，表示的是输入端的传动误差，表示的是由刚轮的弹性变形引
起的误差，其数值十分微小，可忽略不计。
其中，与、、相比，十分微小，可忽
略不计。
定义变量（令，用对象字典 0x2241 表示）来表示谐波减速
机总的扭转角。
其中，通过电机端编码器测量，分辨率为 17 位，通过负载端编码器
测量，分辨率为 19 位，与的单位为分辨率。

1．The transmission equation of harmonic gear under ideal conditions:
indicates angle of flexspline output shaft, indicates angle of wave
generator input shaft, indicates gear ratio of harmonic gear.
2．The actual transmission equation of harmonic gear:
indicates the transmission error of input shaft, indicates error caused
by circular spline elastic deformation; the error value is so small that it can be
ignored.
Compare with E flexspline elastic deformation , Einput teeth gap , Ewave generator deformation , Emanufacture error
is very small and can be ignored.

Define variable （ let , represented by the object dictionary
0x2241) represents the total torsional angle of the harmonic reducer.
is measured by encoder for motor, and the resolution is 17 bit. is
measured by encoder for output shaft, and the resolution is 19 bit. and
take resolution as unit.

表 22-1 双编码器差值
Table 22-1 Dual encoder difference
索引对象变量名称双编码器差值（）
0x2241
Index Object Variation Name Dual encoder difference
子索引 PDO 映射读写操作数据格式单位描述
Sub-index PDO Read-write Data format Unit Description
mapping operation
0x00 TxPDO 只读 INT32 分辨率映射到电机侧两个编码
Read only Resolution 器的差值，分辨率 17 位。
以 eRob80H100 为例，静
止时∆θ双编码器差值与
负载端扭矩关系曲线如
图 22-1 所示。Mapped to
the dual encoder
difference on the motor
side, the resolution is 17
bits. Taking eRob80H100
as an example, the
relationship curve between
∆θ dual encoder difference
and load end torque at
standstill is shown in
Figure 22-1.

Unit: resolution
Load end torque(Unit:Nm)
图 22-1 静止时∆θ双编码器差值与负载端扭矩关系曲线
Fig. 22-1 Relationship curve between dual encoder difference and load end torque at standstill

表 22-2 静止时∆θ双编码器差值与负载端扭矩关系测试数据表
Table 22-2 Dual encoder difference and load end torque relationship test data sheet at standstill
负载端扭矩 ∆θ双编码器差值负载端扭矩 ∆θ双编码器差值

Load end torque Dual encoder Load end torque Dual encoder
(Nm） difference (Avg) (Nm） difference (Avg)
0.000 -230 0.000 37
11.327 1583 -11.327 -1433
14.903 1935 -14.903 -1815
18.218 2305 -18.218 -2211
21.794 2629 -21.794 -2530
25.109 2935 -25.109 -2871
28.685 3240 -28.685 -3188
32.000 3490 -32.000 -3462
35.576 3756 -35.576 -3746
38.891 3977 -38.891 -4018
42.467 4220 -42.467 -4262
45.782 4439 -45.782 -4512
49.358 4680 -49.358 -4770
53.756 4888 -53.756 -5018
57.331 5109 -57.331 -5265
60.647 5299 -60.647 -5472
64.222 5512 -64.222 -5756
67.884 5716 -67.884 -5988
71.459 5931 -71.459 -6219
74.775 6137 -74.775 -6463
78.350 6353 -78.350 -6563
82.011 6556 -82.011 -6917
85.587 6766 -85.587 -7115
88.902 6955 -88.902 -7396
92.478 7165 -92.478 -7677

96.139 7357 -96.139 -7914

99.715 7565 -99.715 -8017
103.030 7773 -103.030 -8185
99.715 7620 -99.715 -8062
96.139 7620 -96.139 -7839
92.478 7244 -92.478 -7596
88.902 7086 -88.902 -7432
85.587 6926 -85.587 -7279
82.011 6766 -82.011 -7100
78.350 6481 -78.350 -6784
74.775 6314 -74.775 -6616
71.459 6115 -71.459 -6434
67.884 5945 -67.884 -6281
64.222 5602 -64.222 -5850
60.647 5439 -60.647 -5674
57.331 5254 -57.331 -5483
53.756 5092 -53.756 -5314
49.358 4747 -49.358 -4986
45.782 4566 -45.782 -4797
42.467 4337 -42.467 -4564
38.891 4141 -38.891 -4363
35.576 3801 -35.576 -4007
32.000 3595 -32.000 -3802
28.685 3324 -28.685 -3534
25.109 3097 -25.109 -3304
21.794 2671 -21.794 -2869
18.218 2392 -18.218 -2575
14.903 1985 -14.903 -2122
11.327 1678 -11.327 -1299

表 22-3 扭矩值
Table 22-3 Torque value
索引对象变量名称扭矩值
0x3B69
Index Object Variation Name Torque value
子索引 PDO 映射读写操作数据格式单位描述
Sub-index PDO mapping Read-write Data Unit Description
operation format
0x00 TxPDO 只读 INT32 mNm 基于双编码器方案估计
Read only 的扭矩值。此对象仅带扭
矩传感器的关节（型号:
eRobxxxxxxxx-xxx-18xT
）支持。
Estimated torque value
based on the dual encoder
scheme. Only for eRob
with virtual torque
sensor(model:
eRobxxxxxxxx-xxx-18xT)
注意：未按照关节输出端连接法兰的安装要求（详见本手册第十九章），
可能会导致输出轴发生变形，进而导致扭矩传感器无法正常工作，甚至发生不
可逆的破坏。
Note：Installation without obeying requirements of mounting flange in output
shaft (for details, refer to Chapter 19 in this manual) may cause output shaft
deformation and cause the torque sensor cannot properly work even cause an

irreversible damage.
双编码器差值 0x2241h 与扭矩值 0x3B69h 之间的关系可结合如下图 22-1
的谐波减速机的刚度与滞后曲线的特性而获得。
The correlation between the difference value 0x2241h and the torque value
0x3B69h of the dual encoder can be obtained by combining the characteristics of
the rigidity and hysteresis curve of the harmonic reducer, as shown in Fig.24-1.
Torsional angle
Torque
Torsional angle
Hysteresis loss Torque
图 22-1 谐波减速机的滞后与刚度曲线
Fig. 22-1 Hysteresis and rigidity curve of the harmonic reducer
参考文献：《HarmonicDrive 组合型产品目录.pdf》
Reference: HarmonicDrive General Catalog.pdf

第二十三章安全转矩关闭(STO)功能使用说明
Chapter 23 Safe Torque Off (STO) Function Instruction
安全转矩关闭(STO)功能用于紧急停止情况和防止意外启动，当 STO 信号
触发时可以立即关闭电机的电源同时制动器闭合，但驱动器的电源不需要中断。
注：
1．STO 接口仅 EtherCAT 版本(型号 eRobxxxxxxxx-xx-18Ex)支持。
2．STO 接线图参考本手册《7.4.I/O 信号端子接线图》的图 7-9 安全转矩
关闭(STO)端子连接图。关节模组支持两路 STO（STOA 和 STOB），当只
配置一路 STO 时，只连接 STOA 接口即可。
Safe torque off (STO) function is used under the conditions of emergency stop
and prevention of unexpected start-up. When STO signal is triggered, the motor
power will be turned off and the brake will be enabled, but the drive power does not
need to be disconnected.
Note：
1．STO interfaces are only supported by EtherCAT version

(Model: eRobxxxxxxxx-xx-18Ex).
2．More details for STO wiring figures, please refer to Fig.7-9 STO terminal
connection in Section 7.4 I/O signal terminal wiring in Chapter 7 in the manual.
The rotary actuator can support two STO branch circuits (STOA and STOB).
When only one branch circuit is configured, connect STOA interface.

23.1 STO 功能配置
STO function configuration
如图 23-1，安装有 eTunner 上位机软件的电脑，通过 eDriver-USB CAN 调
试器连接关节模组的 CAN 通信接口，12P I/O 配线端子与 I/O 信号接口相连，
然后给关节模组提供正确电源。
As shown in Fig.23-1, install a computer with eTunner PC software, connect
CAN communication interface of rotary actuator via eDriver-USB CAN debugger,
connect 12P I/O wiring terminal and I/O signal interface, then supply proper power
for rotary actuator.
I/O signal interface
图 23-1 接线示意图
Fig.23-1 Wiring Figure
23.1.1 一路 STO 功能配置

One STO branch circuit function configuration
如图 23-2，连接 eTunner 上位机，进入控制模式界面，控制源选择“0-不
使用”。然后进入 I/O 设置界面进行 STO 功能配置（注意查看状态监控界面显
示为未使能状态时才能对此功能进行修改设定）。
将 DIn01 功能设置为“STOA”，STO 配置设置为“2-一路 STO”，依次
点击应用和保存，等待约 3S 后提示保存成功即完成一路 STO 功能配置。
As shown in Fig.23-2, connect eTunner PC, enter control interface, select

“0-None” in “Control Source”. Then enter “I/O Settings” interface to set STO
function configuration (pay attention to check “Status Monitor” interface. Only
when it displays “Disable”, can the function modification be allowed.)
Set DIn01 to “STOA”, set STO configuration to “2-One of STO”, click apply
and save in sequence. Wait about 3 seconds, it will be prompted that the save
demand is completed. Then STO one branch circuit configuration is completed.
2-one STO branch circuit
图 23-2 一路 STO 功能配置步骤
Fig.23-2 One STO branch circuit function configuration steps
23.1.2 两路 STO 功能配置

Two STO branch circuits function configuration
如图 23-3，连接 eTunner 上位机，进入控制模式界面，控制源选择“0-不
使用”。然后进入 I/O 设置界面进行 STO 功能配置（注意查看状态监控界面显
示为未使能状态时才能对此功能进行修改设定）。
将 DIn01 功能设置为“STOA”，DIn02 功能设置为“STOB”，STO 配置设置
为“3-两路 STO”，依次点击应用和保存，等待约 3S 后提示保存成功即完成两路
STO 功能配置。
As shown in Fig.23-3. Connect eTunner PC, enter “Control Mode” and select

“0-None” in “Control Source”. Then enter “I/O Settings” interface to set STO
function configuration (pay attention to check status monitor interface. Only when
it displays “Disable”, can the function modification be allowed.)

Set DIn01 to “STOA”, set DIn02 to “STOB”, set STO configuration to “3- Two
of STO”, click apply and save in sequence. Wait about 3 seconds, it will be
prompted that the save command is completed. Then STO two branch circuits
configuration is completed.
3-two STO branch circuits
图 23-3 两路 STO 功能配置步骤
Fig.23-3 Two STO branch circuits function configuration steps

第二十四章关于使用寿命
Chapter 24 Life of Rotary Actuator
关节模组的使用寿命取决于减速器的使用寿命，而减速器的使用寿命又取
决于波发生器轴承的使用寿命。与普通滚珠轴承相同，可通过转速和负载转矩
计算出来。
The life of rotary actuator is determined by the lifetime of gear. The life of gear
depends on the life of wave generator bearing. It can be calculated by rotational
speed and load torque just as with a general ball bearing.
表 24-1 关节模组使用寿命时间
Table 24-1 Rotary actuator life
使用寿命时间 Life
系列名称 Series name eRobxxF eRobxxH
L 10（10%破损率） 7,000 小时 10,000 小时
L10 (10% damage probability) 7,000 hours 10,000 hours
L 50（平均使用寿命） 35,000 小时 50,000 小时
L50 (average lifetime) 35,000 hours 50,000 hours
注：表中记载的额定转速、额定转矩时的使用寿命
Note: Life is based on rated rotational speed and rated torque from the ratings.
实际运转条件下使用寿命（L h）的计算公式
Calculation formula for life（L h）by actual operation condition
Tr 3 Nr
Lh  Ln （）（）
Tav Nav

Ln——L10 或 L 50 时的使用寿命时间
Ln——Life of L10 Or L50
Tr——额定转矩
Tr——Rated torque
Nr——额定转速
Nr——Rated rotational speed
Tav——输出侧的平均负载
Tav——Average load torque on the output side
Nav——平均输入转速
Nav——Average input rotational speed
Breakdown area Buckling torque
Ratcheting torque
Life of wave generator
Not breakdown area

Bottom fatigue intensity of the flexspline
Permissible maximum momentary torque

Permissible peak torque at start/stop
Emergency operation region
Normal operation area Rated torque
Total frequency of wave generator (times)
图 24-1 关节模组的强度与使用寿命的关系图
Figure 24-1 Relationship between strength and lifetime of the rotary actuator
Reference: HarmonicDrive General Catalog.pdf
注：请在“一般情况下运转使用领域”内使用关节模组。超过“一般情况
下运转使用领域”使用会造成关节模组发生早期破损。上表中的数值请作为参
考值使用，且未考虑齿面磨耗等润滑寿命。

Note: Use eRob series rotary actuator within the range of “Normal operation
area”. Using it beyond “Normal operation area” may result in damaging eRob series
rotary actuator earlier than usual. Lubricant life such as for abrasion on the tooth
surface is not taken into consideration in the graph described above.

第二十五章脉冲+方向控制使用说明
Chapter 25 Instruction of Pulse Direction Control Mode
eRob 关节支持脉冲+方向指令控制，通过外部输入脉冲与方向信号对关节
进行运动控制。
注：
1、脉冲+方向控制接口仅 EtherCAT 版本(型号 eRobxxxxxxxx-xx-18Ex)支
持。
2、脉冲+方向控制接线图请参考本手册《7.4.I/O 信号端子接线图》的图 7-10
5V 差分脉冲指令输入端子连接图和图 7-11 集电极开路脉冲指令输入端子连接
图。
eRob rotary actuator supports pulse direction control mode which can control
the motion of eRob by inputting pulse signal and direction signal externally.
Note:
1. Only EtherCAT version rotary actuator is equipped with the interface of
pulse direction control mode (Model:eRobxxxxxxxx-xx-18Ex).
2. The wiring of pulse direction control mode refers to Fig.7-10 and Fig.7-11
in section 7.4 I/O signal terminal wiring diagram.
25.1 脉冲+方向控制参数配置
Parameter configuration of pulse direction control mode
脉冲+方向控制参数配置步骤如图 25-1 所示。
1、连接 eTunner 上位机，进入“PD 设置”界面，用户可在该界面监控关
节收到的脉冲个数。

2、勾选脉冲方向控制模式，启用脉冲方向控制。
3、配置脉冲方向：
0：脉冲+方向正逻辑：eRob 关节运动方向与外部输入脉冲方向相同。
1：脉冲+方向负逻辑：eRob 关节运动方向与外部输入脉冲方向相反。
4、配置齿轮比：
eRob 关节运动圈数=外部输入脉冲个数×齿轮比/524288。齿轮比分子分母
默认配置为 1，即外部输入 1 个脉冲，eRob 关节运动 1 个编码器位置（count）。
如用户欲配置外部输入 1000 个脉冲使 eRob 关节运动一圈，则齿轮比配置为
524288/1000。
5、点击“应用”按钮。
6、点击“保存”按钮。
7、等待 3s 提示保存完成后断电重启，断电重启后配置参数生效。
Steps for parameter configuration of pulse direction control mode are as shown
in Fig. 25-1.
1. Connect eTunner PC and enter the “PD Set” interface where the user can
monitor the number of pulses received by the eRob.
2. Tick “Pulse direction control mode” to activate the function.
3. Configure the “direction of pulse”
“0” indicates pulse-direction positive logic: the motion direction of the eRob
is the same as that of external input pulse.
“1” indicates pulse-direction inverse logic : the motion direction of the eRob
is opposite to that of external input pulse.
4. Configure gear ratio
The number of eRob rotating circles =
number of external input pulses × gear ratio/524288
The numerator and denominator of the gear ratio are configured as 1 by

default, that is, 1 pulse is input from the outside, the eRob moves 1 encoder
position (count). If the user wants to configure the external input of 1000
pulses to make the eRob rotates 1 circle, the gear ratio needs to be configured
to 524288/1000.
5. Click “Apply”.
6. Click “Save”.
7. Wait for 3s until the save command is completed. Then, power off and
restart. The configuration parameters will take effect after power-off and
restart.
图 25-1 脉冲+方向控制参数配置
Figure 25-1 Parameter configuration of pulse direction control mode

用户可在 eTunner 上位机 I/O 设置中配置 I/O 端口发送使能命令，设置步骤
如图 25-2 所示。
1、连接 eTunner 上位机，进入“I/O 设置”界面。
2、DIn03 配置功能为使能。
3、勾选 DIn03 指令取反。
4、点击“应用”按钮，电机使能。
5、点击“保存”按钮。
6、等待 3s 提示保存成功后断电重启，断电重启后配置参数生效。
Users can configure I/O port to send enable command in the “I/O settings” of
eTunner. The setting steps are as shown in Fig.25-2.
1、Connect the PC and open the “I/O settings” interface.
2、Set “DIn03” to “Enable”.
3、Tick “Inverse” of DIn03.
4、Click “Apply” and the motor is enabled.
5、Click “Save”.
6、Wait for 3s until the save command is completed. Then, power off and
restart. The configuration parameters will take effect after power-off and
restart.

图 25-2 上位机 I/O 配置

Figure 25-2 I/O settings in PC
25.2 脉冲+方向运动控制
Pulse direction motion control
脉冲+方向控制参数配置完成后，eRob 关节上电自动使能，此时向 eRob
关节发送脉冲与方向信号，eRob 关节在接收到外部脉冲和方向信号时开始运
动。脉冲+方向控制指令如表 25-1 所示：
After the parameter configuration of pulse direction control is completed, the
eRob will be enabled automatically when powering on. At this time, send pulse
direction signal to the eRob, the eRob will start to move while receiving the
external pulse direction signal. The pulse direction control command is as shown in
Fig.25-1.

表 25-1 脉冲+方向指令
Table 25-1 Pulse direction command
指令脉冲+方向指令逻辑电机正转电机反转

Command Pulse direction logic Motor positive rotation Motor reverse rotation
脉冲+方向指令
正逻辑
Pulse direction
Positive logic
command
脉冲+方向指令
负逻辑
Pulse direction
Inverse logic
command
用户通过调整外部脉冲的发送个数和发送频率来控制 eRob 关节运动的位
置和速度，eRob 关节运动的位置等于 eRob 关节接收的脉冲个数，eRob 关节运
动的速度受到运动参数限制，如图 25-3 所示。
1、eRob 关节运动的目标速度大于轮廓速度时，eRob 关节以轮廓速度运行。
2、eRob 关节运动的目标速度小于轮廓速度时，eRob 关节以目标速度运行。
The user can control the motion position and speed of the eRob by adjusting
the number and the frequency of external pulses sent. The position of the eRob is
equal to the number of pulses received by the eRob. The motion speed of eRob is
limited by the motion parameters, as shown in Fig. 25-3.
1. When the target speed of the eRob is greater than the profile speed, the
eRob operates at the profile speed.
2. When the target speed of the eRob is less than the profile speed, the eRob
operates at the target speed.

Profile acceleration Profile deceleration
Target speed
Profile speed
图 25-3 运动参数限制 eRob 关节运动

Figure 25-3 Motion of the eRob is limited by motion configuration
用户可通过降低外部脉冲发送频率或配置更大的轮廓速度，使 eRob 关节
运动的目标速度小于轮廓速度，从而使得 eRob 关节以目标速度运行，运动参
数配置如图 25-4 所示。
The user can reduce the external pulse sending frequency or configure a
greater profile speed so that the target speed of eRob is less than the profile speed,
thereby making the eRob operate at the target speed. The motion parameter
configuration is as shown in Figure 25-4.

图 25-4 运动参数配置
Figure 25-4 Motion parameter configuration

第二十六章输出特性曲线
Chapter 26 Output Characteristic Curve
26.1. 关节模组电机电流-输出扭矩-转速曲线
eRob motor current-output torque-rotational speed curves
以下是部分型号的电机电流-输出扭矩-转速曲线和测试数据，电机电流即
电机实际电流，详细说明请参考表 26-2 电机实际电流（0x6078）。
The following are the motor current-output torque-rotational speed curves and
test parameters of some eRob models. The motor current is the actual motor current.
For details, please refer to Table 26-2 Motor actual current (0x6078).



电机电流到输出端扭矩的传递函数框图如图 26-1 所示：
The transfer function block diagram of motor current to output torque is as
shown in Figure 26-1.
图 26-1 电机电流到输出端扭矩传递函数框图
Fig.26-1 Transfer function block diagram of motor current to output torque
因此，电机需足够大的初始电流才能获得输出扭矩。
同时，所有的摩擦类扭矩，动、静摩擦力不同。
密封类零件在不同温度下，接触应力不同（橡胶件硬度变化）。
温度也会导致油脂粘滞系数不同。热胀冷缩尺寸变化，温度越高，电机的
扭矩常数越低。
零件尺寸的固有公差产生的密封处接触应力不同。粘滞系数相同时，搅油
损失接近与转速平方成正比。
在以上因素的共同作用下，谐波减速机的传递函数并非是理想的无损模
型，电机电流与输出扭矩也非线性关系。
整体来看，等负载时，温度越低，速度越大，电机需要的电流越多。
Therefore, the motor needs efficient initial current to obtain the output torque.
Meanwhile, all friction torques have different dynamic friction and static
friction.
The contact stress of sealing components is different at different temperature

(The rigidity of rubber components changes).
Temperature also causes differences in the viscosity coefficient of the grease.
Thermal expansion and contraction change in size, the higher the temperature, the
lower the torque constant of the motor.
Inherent tolerances of the component sizes create different contact stresses at
the seal. The viscosity coefficient is the same, the churning loss is nearly
proportional to the square of the rotational speed.
Under the combined effect of the above factors, the transfer function of the
harmonic reducer is not an ideal lossless model, and the relationship between the
motor current and the output torque is also nonlinear.
On the whole, when the load is equal, the lower the temperature, the higher the
speed, and the more current the motor needs.

26.2 关节模组电机参数
eRob rotary actuator motor parameter
26.2.1 模组版本识别
eRob rotary actuator version identification
V4_MC2B.4C.2D
模组版本：
V3 版/V4 版/V5 版电机版本：
1 代电机
2 代电机
eRob version: 3 代电机
V3/V4/V5
Motor version:
1st generation motor
2nd generation motor
3rd generation motor
图 26-2 模组版本识别
Fig. 26-2 eRob rotary actuator version identification

26.2.2 电机参数
Motor parameter
表 26-1 关节模组电机参数表(A)
Table 26-1 eRob rotary actuator motor parameter sheet (A)

关节型号
eRob70F eRob70 eRob80 eRob90
eRob model
模组版本 V4_MC2
V3_MC2 V3_MC1 V4_MC2 V3_MC1 V3_MC1 V3_MC2
eRob version V5_MC2
No. of poles 16 10 16 10 16 10 16
DC Link Voltage
48 48 48 48 48 48 48
UDC (DC Link)
Rated Power P N (W) 75 100 100 200 146 400 293
Rated Torque TN (Nm) 0.24 0.32 0.32 0.64 0.45 1.27 0.85
Rated Speed n N (rpm) 3000 3000 3000 3000 3100 3000 3300
Rated Current IN (A) 1.91 3.3 2.55 6.9 3.4 11 6.7
Maximum torque
0.72 0.96 0.96 1.92 1.25 3.81 2.55
Tm(N.m)
Maximum Current Im (A) 5.9 11 7.8 16.8 10.88 29 21.44
Resistance line-line
3.87 1.75 2 0.7 0.76 0.22 0.31
RL (Ω) （±10%）
Inductance line-line
2.54 2.5 2.46 1.362 1.32 0.6 0.86
L L(mH)（±20%）
Voltage constant
8 8.42 8.3 8.36 8.1 8.43 8.3
Ke(V/krpm)（±5%）
Torque constant
0.134 0.075 0.132 0.101 0.134 0.088 0.14
Kt(Nm/A)

表 26-2 关节模组电机参数表(B)
Table 26-2 eRob rotary actuator motor parameter sheet (B)
关节型号
eRob110 eRob142 eRob170
eRob model
模组版本
V3_MC1 V4_MC2 V3_MC1 V4_MC2 V3_MC1 V3_MC2
eRob version
No. of poles 10 16 10 10 10 10
DC Link Voltage
48 48 48 48 48 48
UDC(DC Link)
Rated Power PN(W) 750 750 1000 1000 1000 1000
Rated Torque TN(Nm) 2.4 2.39 4.78 4.78 4.78 4.78
Rated Speed nN(rpm) 2000 3000 2000 2000 2000 2000
Rated Current IN(A) 20 18.6 26 22 26 22
Maximum torque
7.2 7.17 15 14.3 15 14.3
Tm(N.m)
Maximum Current
40 61 56 71 56 71
Im(A)
Resistance line-line
0.119 0.093 0.069 0.059 0.069 0.059
RL(Ω) （±10%）
Inductance line-line
0.2 0.2 0.37 0.38 0.37 0.38
LL(mH)（±20%）
Voltage constant
8.65 8 12.2 13.5 12.2 13.5
Ke(V/krpm)（±5%）
Torque constant
0.112 0.132 0.153 0.22 0.153 0.22
Kt(Nm/A)
关节模组扭矩常数（Nm/A）、输出扭矩（Nm）计算公式：
（1）关节模组扭矩常数=电机扭矩常数(Torque constant) *减速比*传动效率
（通常在 50%~70%，效率曲线如图 26-3 所示）。
（2）关节模组输出扭矩=关节模组扭矩常数*电机实际电流（可通过对象
字典 0x6078 获取，该对象字典说明如表 26-3）
The calculation formula of eRob torque constant (Nm/A) and output torque
(Nm) :
(1) eRob torque constant= motor torque constant (Torque constant)*gear
ratio* transmission efficiency (usually 50%~70%. The efficiency curve is shown in

Fig.26-3)
(2) eRob output torque= eRob torque constant* motor actual current (can be
obtained by the object dictionary 0x6078. The description of the object dictionary
0x6078 is shown in Table 26-3.)
Gear ratio 50, 80, 100, 120
Temperature (℃)
图 26-3 额定扭矩时的效率
Fig. 26-3 Efficiency at rated torque

表 26-3 电机实际电流（0x6078）
Table 26-3 Motor actual current （0x6078）
索引对象变量名称电机实际电流
0x6078
Index Object Variant Name Motor actual current
PDO 读写
数据格式
子索引映射操作单位描述
Data
Sub-index PDO Read/ Unit Description
format
mapping Write
电机实际电流为实时采样电机
的三相电流的瞬时值合成计算
得到的电流值，以额定电流（通
过对象字典 0x6075 获取）千分
比给出，即电机实际电流（mA）
=0x6078 值×(0x 6075 值)/1000.
The motor actual current is the
value obtained by calculating
只读
0x00 TxPDO INT16 1‰ the sum of momentary
Read only
three-phase current value of the
motor when sampling. It is
displayed by the permillage of
the rated current (obtained by
object dictionary 0x6075).
That is, the motor actual
current=0x6078 value ×(0x6078
value)/1000

表 26-3 额定电流（0x6075）
Table 26-4 Rated current (0x6075)
索引对象变量名称额定电流
0x6075
Index Object Variant Name Rated current
PDO 映射读写操作数据格式

子索引单位描述
PDO Read-write Data
Sub-index Unit Description
mapping operation format
此对象索引对应 eTunner 上
位机安全电源界面：持续电
流。
可读可写
0x00 NO UDINT32 mA This object index corresponds
Read/Write
to the “Continuous current”
in “Safe Power” interface in
eTunner PC.

26.3 关节模组扭矩-转速曲线
Torque - rotational speed curves of rotary actuator


26.4 关节模组母线电流-输出扭矩-转速曲线
eRob bus current-output torque-rotational speed curve


第二十七章故障排查说明
Chapter 27 Troubleshooting Instruction
表 27-1 故障排查和解决
Table 27-1 Troubleshooting and solutions
问题分类 CAN 通信异常
Problem Classification Abnormal CAN communication
报警提示或现象 RUN LED 指示灯不亮
Alarm tips or Phenomenon RUN LED indicator light is not on.
1. 未使用正确供电电源。
2. 关节 48V 电源输入端过压，造成硬件故障。
可能原因
1. The correct power supply is not used.
Possible Causes
2. The input end of 48V power supply is overvoltage causing the hardware
failure.
1. 使用 48VDC 电源供电，注意电源正负极接线顺序。
2. 建议选用我司的 ePower 电源。

解决措施
1. Use 48VDC for power supply; pay attention to the wiring sequence of the
Solutions
positive and negative polarity of the power supply
2. Recommend to use the ePower power supply from ZeroErr.

RUN LED 指示灯正常，点击上位机“连接测试”按钮提示：请检查驱动
报警提示或现象器是否上电
Alarm tips or Phenomenon RUN LED indicator works normally, click “Connect” for test in PC, “Check
the drive is powered on” window pops up.
1. 关节的 CAN 接口与 USBCAN 调试器未正常连接。.
2. CAN 接口引脚串入强电，造成 CAN 接口部分元器件烧坏，通信断开。
可能原因 1. The connection between CAN interface and debugger is improper
Possible Causes 2. The pins of the CAN interface are connected to strong electricity, causing
some components of the CAN interface are burned out and the communication
is disconnected.
1. 检查 CAN 接线顺序，确保连接良好
解决措施 2. 检查测量 CAN 接口阻值。
Solutions 1. Check CAN wiring sequence, ensure the good connection.
2. Measure CAN interface resistance value.
上位机连接测试识别 CANID 数量少于实际连接数量

报警提示或现象
The number of CANID identified by PC in the connection test is less than the
Alarm tips or Phenomenon
actual CANID number of connection.
可能原因 CAN 总线上存在相同 CANID 的从站。
Possible Causes There are same slave stations of CANID in CAN bus.
单独连接各个轴，重新设置 CANID，确保 ID 唯一。

解决措施
Connect each rotary actuator separately; reset CANID to ensure the
Solutions
uniqueness of the ID.

上位机连接后，状态监控界面数据显示跳变异常
报警提示或现象
The displayed data on “Status Monitor” interface jumps abnormally when PC
Alarm tips or Phenomenon
is connected.
1. CAN 总线上存在相同 CANID 的从站。
2. 关节 CAN 端口接线与 USBCAN 调试器的端口接线不一致。

可能原因
1. There are same slave stations of CANID in CAN bus.
Possible Causes
2. Rotary actuator CAN port wiring is different from USBCAN debugger
port wiring.
1. 单独连接各个轴，重新设置 CANID，确保 ID 唯一。
2. 检查关节 CAN 端口与 USBCAN 调试器的接线，确保接线应一一对应。
解决措施 1. Connect each rotary actuator separately; reset CANID to ensure the
Solutions uniqueness of the ID.
2. Check rotary actuator CAN port wiring and USBCAN debugger wiring,
ensure the wiring is in one-to-one correspondence.
问题分类 EtherCAT 通信异常
Problem Classification Abnormal EtherCAT communication
报警提示或现象网口灯不亮
Alarm tips or Phenomenon The network light is not on
1. EtherCAT 总线接线不良
可能原因 2. 关节 PCB 硬件故障
Possible Causes 1. EtherCAT bus is in poor wiring.
2. PCB hardware failure of eRob
1. 检查网线接线顺序和连通情况，确保连接良好
解决措施
Check the wiring sequence and wiring status of network cables to ensure a
Solutions
good connection.

问题分类 EtherCAT 通信异常
Problem Classification Abnormal EtherCAT communication
报警提示或现象网口灯闪一段时间后不闪
Alarm tips or Phenomenon The network light is on for a period, then it is off.
1．EtherCAT 总线接线不良
可能原因 2．关节 PCB 硬件故障
Possible Causes 1．EtherCAT bus is in poor wiring.
2．PCB hardware failure of eRob
1．检查网线接线顺序和连通情况，确保连接良好
解决措施
Check the wiring sequence and wiring status of network cables to ensure a
Solutions
good connection.
注：更多报错信息及处理详见本手册《附录 2 错误代码及处理》。
Note: For more details about troubleshooting and solutions, please refer to
Appendix 2 Error Codes and Suggestions.

27.1 CAN 通信异常的排查步骤
Abnormal CAN communication troubleshooting steps

27.1.1 上位机“连接测试”时提示：请检查驱动器是否上电
“Check whether the drive is powered on” window pops up when click
“connect” for test in the host computer
出现表 27-1 中上位机无法连接时按照以下步骤进行确认：
1、检查关节 RUN_LED 指示灯状态
关节正常运行时 RUN_LED 指示灯为呼吸闪烁状态。若状态不正常，CAN
通信无法连接。
2、若 RUN_LED 指示灯状态异常，检查电源供电电压和接线

（1）检查电源正负极接线顺序，请参照本手册《7.1.电源接线方式说明》。
（2）关节驱动正常工作的电源供电电压为 DC24V~48V（最低允许输入电压

详见本手册《4.3.eRob 能容许的最低输入电压》），用万用表测量电源输出电
压是否在该电压范围。
（3）电源断电，连接示波器测量电源开关通电瞬间的电压输出波形，确认是
否存在过压冲击（＞60V 的情况），请参照本手册《4.2.eRob 能容许的最高输
入电压》
3、若 RUN_LED 指示灯状态正常，点击上位机“连接测试”按钮提示：
“请检查驱动器是否上电”，进一步检查 CAN 接线
（1）关节断电，检查关节 CAN 接口与 USBCAN 调试器接线，请参照本
手册《十四、连接调试上位机》，确保调试器压线端子与 CAN 线线芯有效压
接、接线顺序正确并导通。
（2）重新拔插 USB 线，确保 USB 线与 USBCAN 调试器、电脑 USB 接口
有效连接。
（3）关闭并重新打开上位机，点击“连接测试”按钮，确认是否正常识别
关节 CANID。
4、若上位机仍提示：“请检查驱动器是否上电”，将关节断电，用万用
表测量关节 CAN 接口阻值
测量 CAN_L 对 CAN_GND 电阻阻值正常约为 61KΩ~65KΩ、CAN_H 对
CAN_GND 电阻阻值正常约为 61KΩ~65KΩ，阻值正常如图 27-1 所示，阻值
异常如图 27-2 所示。测量 CAN_L 对 CAN_H 电阻阻值正常约为 2KΩ。
若阻值异常，请确认使用过程中是否带电插拔 CAN 线，带电时插拔 CAN
线易导致 CAN 接口损坏。
According to the following steps to check when the host computer cannot be
connected as shown in Table 27-1.

1、Check RUN_LED indicator status of eRob rotary actuator.
When the eRob runs normally, the RUN_LED indicator is breathing and
flashing. If the operation status is abnormal, the CAN communication cannot be
connected.
2、Check the voltage and the wiring of the power supply when RUN_LED
indicator status is abnormal.
（1）Check the positive and negative wiring sequence of the power supply,
please refer to Section 7.1 power wiring introduction in this manual.
（2）The voltage of power supply is DC24V~48V when the eRob works
properly (For the permissible minimum input voltage, please refer to Section 4.3
eRob permissible minimum input voltage in this manual. Use a multimeter to
measure the voltage, check whether the voltage is within the voltage range.
（3）Power off the power. Then connect the oscilloscope to measure waveform
outputted by voltage at the moment of powering on. Check whether there is
overvoltage phenomenon ( ＞ 60V). Please refer to Section 4.2 eRob permissible
maximum input voltage in this manual.
3、“Check whether the drive is powered on” window pops up when click
“connect” for test in the host computer when RUN_LED indicator status is
abnormal, check CAN wiring.
（1）Power off the eRob. Check the wiring between CAN interface and
USBCAN debugger of the eRob, please refer to Chaper14 PC Connection and
Debugging. Make sure that the crimp terminals of the debugger and the CAN wire
cores are connected effectively, the wiring sequence is correct, and the wires are
conductive.
（2）Unplug and plug the USB wires. Make sure the effective connection
between USB wires, USBCAN debugger and computer USB interface.
（3）Power off and restart the PC, click “Connect” for test. Check whether the
PC identifies CANID normally.
4、If the host computer still reminds that “Check the driver is powered
on”, power off the rotary actuator and use a multimeter to measure the CAN
interface resistance value of rotary actuator.
The normal resistance measurement value of CAN_L to CAN_GND is about
61K Ω ~65K Ω , and the normal resistance measurement value of CAN_H to
CAN_GND is about 61KΩ~65KΩ. The normal measurement value is as shown in

Fig.27-1. The abnormal resistance measurement value is as shown in Fig.27-2.
The resistance measurement value of CAN_L to CAN_H is about 2KΩ.
If the resistance value is abnormal, please confirm whether the CAN wire is
plugged or unplugged when powering on during operation. Plugging or unplugging
CAN wire when it is powered will easily damage to CAN interface.
图 27-1 CAN 通信正常电阻测量值

Figure 27-1 Normal CAN communication resistance measurement value
图 27-2 CAN 通信异常电阻测量值

Figure27-2 Abnormal CAN communication resistance measurement value
27.1.2 上位机连接测试识别 CANID 数量少于实际连接数量

The number of CANID identified by the host computer connection test
is less than the actual CANID number of connection
1、检查关节 CAN 接口与 USBCAN 调试器的接线、关节与关节之间 CAN
接口的接线（请参照本手册《十四、连接调试上位机》），确保接线应一一对
应并导通。
2、将关节断电，USBCAN 调试器单独连接各个关节，然后关节上电，连
接上位机打开连接设置界面，重新设置 CANID（设置步骤如图 27-3 所示），
确保各关节 ID 唯一。
1、Check the wiring between the eRob CAN interface and the USBCAN
debugger, and the wiring of the CAN interface between the eRob rotary actuators
(please refer to Chapter 14 PC Connection and Debugging). Make sure the wire
correspondence is in sequence and the wires are conductive.
2、Power off the eRob, and use the USBCAN debugger to connect each eRob
respectively. Then power on the eRob, connect to the host computer, and open the
“Connection Settings” interface. Reset CANID (The steps are shown in Figure 27-3)
to make sure the ID of each rotary actuator is unique.

2
1
4 等待 3s 后提示保存成功，
3
断电重启后生效
Wait for 3 seconds. When it reminds
the save command is completed,
power off and restart, then it effects.
图 27-3 修改 CANID 步骤
Figure 27-3 CANID modification steps
3、将关节断电，CAN 总线重新级联组网（参照本手册《7.2.CAN/CANopen
通信接线图》），然后关节上电，打开上位机连接界面重新连接测试。
3 、 Power off the eRob, and re-cascade the CAN bus networking (refer to
Section 7.2 CAN/CANopen communication wiring figures). Then power the eRob
and open the connection interface in the host computer to reconnect the test.
27.1.3 上位机状态监控界面数据显示跳变异常
The data displayed on “Status Monitor” interface jumps abnormally
when the host computer is connected.
1、检查关节 CAN 接口与 USBCAN 调试器的接线、关节与关节之间 CAN
接口的接线（请参照本手册《十四、连接调试上位机》、《7.2.CAN/CANopen
通信接线图》），确保接线应一一对应并导通。
2、将关节断电，USBCAN 调试器单独连接各个关节，然后关节上电，连
接上位机打开连接设置界面，重新设置 CANID（设置步骤如图 27-3 所示），
确保各关节 ID 唯一。

3、将关节断电，CAN 总线重新级联组网（参照本手册《7.2.CAN/CANopen
通信接线图》），然后关节上电，打开上位机连接界面重新连接测试。
1、Check the wiring between the CAN interface of the eRob and the USBCAN
debugger, and the wiring of the CAN interface between eRob rotary actuators
(please refer to Chapter14 PC Connection and Debugging and Section 7.2
CAN/CANopen communication wiring figures). Make sure the wire correspondence
is in sequence and the wires are conductive.
2、Power off the eRob, and use the USBCAN debugger connect each eRob
respectively. Then power the eRob, connect to the host computer and open the
“Connection Settings” interface. Reset CANID (The steps are as shown in Fig. 27-3)
to make sure the ID of each rotary actuator is unique.
3、Power off the rotary actuator, and re-cascade the CAN bus networking
(refer to Section 7.2 CAN/CANopen communication wiring figures). Then power the
eRob and open the “Connection Setting” interface in the host computer to reconnect
the test.

第二十八章关于刚性
Chapter 28 About Rigidity
28.1 刚性
Rigidity
将输入侧（波发生器）固定。向输出侧（柔轮）施加转矩后，输出轴会产
生几乎与转矩呈正比的扭转。
图 28-1 是根据在输出轴上施加的转矩从 0 开始，在正负侧分别增减到 +T0/
－ T0 时输出侧的扭转角变化绘制而成的。将其称为“转矩-扭转角线形图”，通
常描绘为 0－A－B－A’－B’－A 的环线。对于关节模组的刚性，“转矩-扭转角
线形图”的倾斜程度即表述为弹簧常数。（单位：Nm/rad）
如图 28-2 所示，将该“转矩-扭转角线形图”分为 3 个区间，各区间时的弹
簧常数分别表述为 K1、K2、K3。
K1……转矩从“0”至“T1”的弹簧常数
K2……转矩从“T 1”至“T2”的弹簧常数
K3……转矩在“T 2”以上区间的弹簧常数
Fixing the input side (wave generator) and applying torque to the output side
(flexspline) generates torsion almost proportional to the torque on the output side.
Figure 28-1 shows the torsional angle quantity on the output side when the
torque applied on the output side starts from 0, increases up to +T 0 and decreases
down to -T 0. This is called the “Torque-torsional angle diagram”, which normally
draws a loop of 0－A－B－A’－B’－A. The slope described in the
“Torque-torsional angle diagram” is represented as the spring constant for the
rigidity of eRob rotary actuators (unit:Nm/rad).

As shown in Figure 28-2, this “Torque-torsional angle diagram” is divided into
3 partitions, and the spring constants in the area are represented as K1, K2 and K3.
K1 The spring constant when the torque changes from 0 to T1.
K2 The spring constant when the torque changes from T1 to T2.
K3 The spring constant when the torque changes from T2 to T3.
图 28-1 转矩-扭转角线形图
Fig 28-1 Torque-torsional angle diagram
图 28-2 弹簧常数的分类
Fig 28-2 Partitioning of spring constant
References: Harmonic Drive General catalog.

表 28-1 各关节模组刚性数值（弹簧常数）
Table 28-1 Rigidity value (spring constant) of each eRob model
28.2 扭转量的计算示例
Example of calculating torsional quantity
以 eRob110H100I-BM-18EN 为例，计算出扭转量（θ）
负载转矩极小 TL1 =2.9Nm 时

由于转矩为 T1 以下，因此扭转量的 θ L1 计算公式如下所示，
θ L1=T L1/K 1
=2.9/3.1×10 4
=9.4×10 -5 rad（0.33 arc min）
负载转矩极小 TL2 =39Nm 时
由于转矩为 T1 和 T2 之间，因此扭转量的 θL2 计算公式如下所示，
θ L =θ1+（TL2-T1）/K2
2
=4.4×10 -4 +（39-14）/5.0×10 4
=9.4×10 -4 rad（3.2 arc min）
此外，正反施加负载时的总扭转量为上述所求得的数值的 2 倍，加上齿隙
量的值。
注意：这一扭转量是关节模组单机的数值，不包括输出法兰等的扭转量。
Take eRob110H100I-BM-18EN as an example to obtain the torsional quantity (θ).
When the load torque is extremely small (T L1 =2.9 Nm)
As the torque is T1 or less, torsional quantity θ L1 is represented as follows.
θ L1=T L1/K 1
=2.9/3.1×10 4
=9.4×10 -5 rad（0.33 arc min）
When the load torque is extremely small (T L2 =39 Nm)
As the torque between T 1 and T2, torsional quantity θL2 is represented as

follows.
θ L =θ1+（TL2-T1）/K2
2
=4.4×10 -4 +（39-14）/5.0×10 4
=9.4×10 -4 rad（3.2 arc min）
The total torsional quantity when the load is applied the other way round will
be double the quantity obtained above plus the backlash quantity.

Note that the torsional quantity indicates the value of the each eRob rotary
actuator only. The torsional quantity of the output shaft is not included.
28.3 滞后损失
Hysteresis loss
如图 28-1 的线形图所示，施加转矩直至达到额定转矩后，转矩恢复为“0”
时，扭转角将不会完全变为“0”，会留有细微的间隙量（B—B'）。这个间隙量
被称为滞后损失。
As shown in Figure 28-1, when the torque is applied up to the rated value and
is brought back to “0”, the torsional angle does not become absolutely “0”, and a
small amount remains (B—B'). This is called hysteresis loss.

表 28-2 各关节模组滞后损失数值
Table 28-2 Hysteresis loss quantity for each eRob model

Model
Gear ratio Unit eRob 70F eRob70 eRob80 eRob90 eRob110 eRob142 eRob170
X10 -4 rad 7.3 5.8 5.8 5.8 5.8 5.8 5.8

50
arc min 2.5 2.0 2.0 2.0 2.0 2.0 2.0
X10 -4 rad 5.8 2.9 2.9 2.9 2.9 2.9 2.9

＞80
arc min 2.0 1.0 1.0 1.0 1.0 1.0 1.0
28.4 齿隙
Backlash
滞后损失主要由于内部摩擦产生，因此转矩极小的情况下几乎不存在滞后
损失，仅有的细微间隙由线形图表示。该量即表述为齿隙量。
由于减速器齿轮啮合部的间隙控制为“0”，因此齿隙量是指机械结构连
接时产生的间隙。
As hysteresis loss is mainly generated by internal abrasion, it is hardly
generated, and only a small allowance is represented in the diagram when the torque
is extremely small. This quantity is expressed as the backlash quantity.

As the allowance of the tooth engagement is suppressed to “0” for the gear, the
backlash quantity is caused by the clearance of the connection of mechanical
structures.

第二十九章通过外力反驱拖动关节的说明
Chapter 29 Instructions for backdriving eRob by
external force
1、在不使能情况下单独释放刹车（操作方法参考本手册《8.3.非使能状态，
强制开启制动器操作方法》）可以较小的外力转动关节，由于还有摩擦力和电
机拖动的磁感应力且磁感应力是随着转动速度越大阻力就越大，所以需要借助
一定的力臂施加扭矩来转动关节。
The actuator can be rotated with a small external force under the condition of
motor disabled and the brake released separately (please refer to Section 8.3
Operation method of forcily opening the brake(Non-enabled state) for more details),
because there is still friction and the magnetic induction force produced by motor
dragging and the magnetic induction force is that the greater the rotation speed, the
greater the resistance, so it is necessary to apply a torque with the help of a certain
force arm to rotate the joint.
2、使用力矩模式（CST 模式或 PT 模式），设定目标力矩（对象字典 0x607A）
为 0，然后关节上使能，此时通过外力转动关节相比单独释放刹车转动关节所
需的外力更小。
Use the torque mode (CST mode or PT mode), set the target torque (object
dictionary 0x607A) to 0, and then enable the actuator. At this time, the external
force required to rotate the actuator by external force is smaller than that of
releasing the brake alone.
3、如果想进一步减小拖拽力，通常做法是先通过控制器的拖动示教功能

对关节的摩檫力和负载重力进行辨识，然后通过扭矩前馈（对象字典 0x60B2）
发送指令给关节进行摩擦力和负载重力补偿。
If you want to further reduce the drag force, the usual method is to first
identify the friction force and load gravity of the actuator through the drag teaching
function of the controller, and then send commands to the actuator through the
torque feedforward (object dictionary 0x60B2) to compensate the friction force and
load gravity.
4、可以使用关节的扭矩传感器（参考本手册《二十二、扭矩传感器》说
明），作为外部受力的一个反馈，再通过这个力经过控制器的计算处理之后，
通过扭矩前馈（对象字典 0x60B2）发送指令给关节进行补偿。
You can use the torque sensor of the actuator (please refer to Chapter 22
Torque Sensor in this manual) as a feedback of the external force, and after the
calculation and processing of the force by the controller, send commands to the
actuator through the torque feedforward (object dictionary 0x60B2) for
compensation.
注：CST 模式、PT 模式使用说明参考《eRob CANopen and EtherCAT 用户
手册》第 5 章运动控制，对象字典说明参考《eRob CANopen and EtherCAT 用
户手册》第 8.2 章节对象字典。
Note: For the instructions of CST mode and PT mode, refer to Chapter 5
Motion Control of eRob CANopen and EtherCAT User Manual, and for the object
dictionary description, refer to Chapter 8.2 Object Dictionary of eRob CANopen and
EtherCAT User Manual.

附录 1 多圈供电电池相关安全注意事项
Appendix 1 Safety Precautions for Multiturn Power
Supply Batteries
1、不得随意放置电池，防止短路。
Do not place the battery at random to prevent short circuit.
2、不要进行加热或放置于 100℃的环境中。
Do not heat or place the battery in an environment of 100°C.
3、严禁对电池进行充电。
Do not charge the battery.
4、严禁拆卸和解剖电池。
Do not disassemble and dissect the battery.
5、严禁将正负极与用电设备反接使用。
Do not use the positive and negative electrodes in reverse connection with the electrical
equipment.
6、严禁直接在电池表面使用烙铁焊接或接触其他高温物件。
Do not use a soldering iron directly on the battery surface to solder or contact other
high-temperature objects.
7、严禁在没有任何防护条件下进行挤压、冲击等各项环境及安全性测试。
Do not perform various environmental and safety tests such as extrusion and impact without
any protective conditions.
8、严禁将电池投入水中或未作防护的条件下在潮湿环境下使用或储存。
Do not put the battery into water or use or store it in a humid environment without protection.
9、严禁电池在设备中使用时未设置截止电压点的情况下过度使用，达到截止电压点后需
立即从设备中拆除，防止继续有电流工作深度放电。
Do not use the battery in the equipment without setting the cut-off voltage point. After reaching
the cut-off voltage point, it must be removed from the equipment immediately to prevent the
deep discharge of continuous current operation.
10、在使用或储存期间如发现电池有发热、散发气味、变色、变形或其他异常之处请停止
使用。
Do not use the battery if you find any heat, odor, discoloration, deformation or other
abnormality in the battery during use or storage.
11、使用过的电池应按照当地环保规定处理，深埋于地下或投入盐水中。
Dispose of the used battery in accordance with local environmental regulations, buried deep in
the ground or thrown into salt water.
12、如有电池内部液体溅到皮肤、眼睛及衣服上，立即用大量清水冲洗，再立即就医处理。
Rinse with plenty of water and seek medical treatment immediately if the liquid inside the
battery splashes on the skin, eyes and clothes.
13、电池应在远离静电的场所使用和储存。
Do not use and store battery in the place with static electricity.
14、电池应储存在温度不超过 30℃、相对湿度 45%～ 75%的环境中。
Store battery in an environment where the temperature does not exceed 30°C and the relative
humidity is 45% ~ 75%.
15、电池储存时要远离热源，远离腐蚀性气体环境、避免阳光直射的地方，保证储存区域
清洁、凉爽、干燥、通风。
Store battery away from heat sources, away from corrosive gas environments, and avoid direct
sunlight, and ensure that the storage area is clean, cool, dry and ventilated.
16、电池不使用需保持原包装存放状态，去掉包装后电池不能乱堆放。
Keep battery in their original packaging when not in use, and the batteries should not be piled
up after removing the packaging.

17、电池在运输过程中，应避免日晒、火烤、雨淋、水浸及与腐蚀性物质放在一起。
Protect battery from sunlight, fire, rain, water and corrosive substances during transportation.
18、运输和装卸中的冲击、震动应限制在最小程度。
Limit the shock and vibration during transportation and handling to a minimum.
19、电池长途运输时，如是船运，应放在远离发动机的地方；夏季不应该长期滞留在不通
风的环境内。
Place battery away from the engine when the battery is transported long-distance by ship; Do
not leave in an unventilated environment for a long time in summer.

附录 2 错误代码及处理
Appendix 2 Error Codes and Suggestions
错误代码及处理请参考《eRob CANopen and EtherCAT 用户手册》第 7.2 章节设
备报错。
Please refer to Section 7.2 Device Error in eRob CANopen and EtherCAT User
Manual for more details.

总部 Head Office
ZeroErr Control Co.,Ltd
地址 Address：中国广东省深圳市宝安区沙井街道坣岗社区中日龙路 10 号 3 楼
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售前咨询 Sales support：134 8079 6208
136 0260 7132
邮箱 Email：sales@zeroerr.cn
Sales Email: marketingdirector@zeroerr.cn
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全球技术支持 Global Support
请访问我们的网站，联系您最近的销售代表。
Visit our website to contact your nearest sales representative.
https://www.zeroerr.cn
https://en.zeroerr.cn

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Erob Rotary Actuator User Manual V3.32

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eRob 关节用户手册 V3.32

Safety Attention (Strict Adherence)

Read the manual and appendixes thoroughly before installing, operating,

This indicates an imminently hazardous electrical

usage situation which, if not avoided, could result in

death or serious injury.

2.请勿带电时插拔 CAN 线。由于上位控制器与关节

Do not place rotary actuator on a wooden table to run.

platform feet without fastened).

1.每个 eRob 关节在出厂时都经历了严格的抖动和

Each eRob rotary actuator has undergone strict jitter

and noise tests before delivery. If it fails to meet

expected operation results, please assemble it

strictly in accordance with Chapter 20 Rotary

Actuator Installation Requirement.

Mount the robot on a sufficiently solid surface

without vibration (such as steel plates).

fault, please rest assured to use.

Safety Attention (Strict Adherence) .............................................................................. II

第一章 eRob 简介 .......................................................................................................... 1

Chapter 1 eRob Introduction ...........................................................................................1

1.1 关于本手册 .......................................................................................................... 1

About the manual ........................................................................................................ 1

1.2 eRob 产品简介 ......................................................................................................1

Introduction of eRob series .........................................................................................1

第二章 包装及配件 ....................................................................................................... 3

Chapter 2 Packaging and Accessories ............................................................................3

2.1 产品包装 .............................................................................................................. 3

2.2 包装清单 .............................................................................................................. 3

Packaging list ...............................................................................................................3

第三章 关节基本参数 ................................................................................................... 4

Chapter 3 Rotary Actuator Parameters ...........................................................................4

第四章 eRob 输入电源说明 ....................................................................................... 14

Chapter 4 eRob Input Power Instruction ..................................................................... 14

4.1 电源电压和电流额定值 ................................................................................... 14

Power supply voltage and rated current value ........................................................ 14

4.2 eRob 能容许的最高输入电压 ...........................................................................15

4.3 eRob 能容许的最低输入电压 ...........................................................................19

eRob permissible minimum input voltage ...............................................................19

第五章 关节正转方向 ................................................................................................. 22

Chapter 5 Rotary Actuator Positive Rotation .............................................................. 22

第六章 电气接口和指示灯说明 ................................................................................ 23

Chapter 6 Electrical Interface and Status Indicator LED ........................................... 23

6.1 指示灯功能 ........................................................................................................ 23

Indicator LED function ............................................................................................. 23

6.2 CAN 通信接口 ....................................................................................................26

CAN communication interface .................................................................................26

6.3 EtherCAT 通信接口 ........................................................................................... 27

EtherCAT communication interface .........................................................................27

6.4 多圈供电电池接口 ............................................................................................28

Multiturn power supply battery interface ................................................................ 28

6.5 48V 供电电源接口 .............................................................................................29

48V power supply interface ......................................................................................29

6.6 I/O 信号端子 .......................................................................................................30

I/O signal terminal .....................................................................................................30

6.7 连接器受力说明 ................................................................................................32

Force instruction of connector ..................................................................................32

6.8 电源端子受力说明 ............................................................................................34

Force instruction of power terminal .........................................................................34

第七章 多关节模组间线缆连接 ................................................................................ 36

7.1 电源接线方式说明 ............................................................................................38

Power wiring methods introduction .........................................................................38

第二章包装及配件 ....................................................................................................... 3

第三章关节基本参数 ................................................................................................... 4

第五章关节正转方向 ................................................................................................. 22

第六章电气接口和指示灯说明 ................................................................................ 23

第七章多关节模组间线缆连接 ................................................................................ 36

第八章重要的制动器使用说明 ................................................................................ 52

第九章回收动能的处理 .............................................................................................64

第十章编码器和位置反馈 .........................................................................................69

第十一章多圈供电电池说明 .................................................................................... 83