ESTUN Codroid SA32 SA-Series Rigid Joint Module (178 N·m rated)
Vendor: 埃斯顿酷卓 ESTUN Codroid
Product: SA32
ESTUN Codroid (embodied-AI arm of ESTUN) SA-series rigid joint module SA32: rated torque 178 N·m, start/stop max 459 N·m, instantaneous peak 892 N·m, rated speed 24.7 RPM. Integrates driver, dual encoders, harmonic reducer, torque sensor, motor and electromagnetic brake in one unit; ratio 121, 16mm hollow shaft, dual 19-bit absolute magnetic encoders, EtherCAT/CiA402, 48VDC, IP54, ±0.01° positioning. Built for collaborative and humanoid robots, suited for large joints (hip/shoulder).
| bus | EtherCAT (CiA402)，伺服通讯 4kHz |
| brake | 电磁摩擦式抱闸 |
| model | SA32 |
| encoder | 双绝对值磁编（输出端 19bit） |
| reducer | 谐波减速机（速比 121，集成扭矩传感器） |
| voltage | 48VDC |
| ip_rating | IP54 |
| max_speed | 31 RPM |
| gear_ratio | 121 |
| rated_power | 1000 W |
| rated_speed | 24.7 RPM |
| vendor_site | https://www.codroid.ai |
| hollow_shaft | 16 mm |
| peak_current | 89.0 A |
| rated_torque | 178 N·m |
| rated_current | 27.0 A |
| instant_max_torque | 892 N·m |
| positioning_accuracy | ±0.01° |
| startstop_max_torque | 459 N·m |