Full specification
| Parameter | Value |
|---|---|
| Frame | Φ120 mm — body length confirmed on the drawing issued with the quote |
| Ratio | 161:1 · harmonic CMCS-40 |
| Rated torque | 300 N·m |
| Instantaneous max | 550 N·m |
| Rated output speed | 11 rpm |
| Weight | 4.20 kg ±30 g (drawing dated 2026-09-03) |
| Through-bore | Φ23 mm |
| Holding brake | Static torque >5 N·m, power-off engaged |
| Torque sensor | 600 N·m range, 1% FS accuracy, RS-485 output |
| Encoder | 21-bit × 2 |
| Comms | CAN / EtherCAT · ESI GDESC_CIA402_V4_JX, vendor ID 0x00001035 |
| Supply | 48 V DC · 21.5 A rated / 72 A peak |
| Life | 10,000 h |
| Operating temperature | −10 to 50 °C |
Source: Crabnova drawing CE-RBV3-R120-MAX-161-23DB24T-CFDIJ-TB (2026-09-03) and the factory parameter sheet of 2026-10-11. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Waist yaw on a full-size humanoid. 300 N·m continuous with a 550 N·m ceiling is the last stop in the harmonic range before you move to an industrial frame.
- The sensor reads on its own bus. RS-485 keeps 600 N·m of torque data off the motion bus — useful when a controller is already close to its bus budget.
- Brake, sensor and encoder inside one envelope. No external caliper, no sensor housing to design, no change to your joint plate.
- Same RBV3 electrical interface and ESI as the smaller frames, so a waist module and knee modules share firmware tooling and a network description file.
When it is the wrong choice
- Below ~200 N·m. R120-161 (180 N·m, 4.10 kg) or R102-161 (147 N·m, 2.60 kg) are the same architecture for less mass.
- Lifting axes and mobile bases that see shock. This is still a harmonic drive, and the biggest one in the line.
- If your controller expects torque on CAN FD. The MAX sensor is RS-485, unlike the smaller RBV3 frames — check the wiring before the harness is drawn.
Alternatives at a similar level
- Crabnova CE-RBV3-R120-161 — 180 N·m rated, 450 N·m peak, 4.10 kg
- Crabnova CE-RBV3-R102-161 — 147 N·m rated, 350 N·m peak, 2.60 kg
- Tongchuan TCHL-32 — 169 N·m rated at 3.30 kg, brake and sensor as options
- EYOU PHU40H-170 — 320 N·m rated, 762 N·m start-stop, 8.52 kg — bigger frame
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
CE-RBV3-R120-MAX FAQ
Is R120-MAX the same joint as R120?
No — two separate products. R120 is 180 N·m rated and 450 N·m peak at 3.92 kg; R120-MAX is 300 N·m and 550 N·m at 4.20 kg. They share the Φ120 frame and the 161:1 ratio, and that is where the similarity ends.
Why is the torque sensor on RS-485?
Because it is a separate 600 N·m sensor board rather than the integrated sensor of the smaller RBV3 frames. If your architecture needs torque on the motion bus, tell us before the quotation — we confirm the option with the factory rather than assume it.
What can the holding brake actually hold?
A static torque above 5 N·m, engaged when power drops. That is enough to stop a torso falling, not enough to brake a moving payload — size the motion profile as if the brake will only ever act at standstill.
How long does it take to ship?
Confirmed per order at quotation, because it depends on the configuration and what the factory has built. The quotation carries the date we are working to.
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