Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ120 mm · 116.3 mm body length |
| Ratio | 161:1 |
| Rated torque | 180 N·m |
| Peak torque | 450 N·m |
| Rated output speed | 18 rpm |
| Weight | 4.10 kg |
| Through-bore | Φ23 mm |
| Torque sensor | 500 N·m range, integrated |
| Encoder | Dual 21-bit absolute |
| Comms | CAN / EtherCAT · ESI GDESC_CIA402_V4_JX |
| Supply | 48 V DC · 15 A rated / 45 A peak |
| Holding brake | Power-off engaged |
Source: Crabnova RBV3 parameter sheet (2026-10-11) and the RBV3 drawing set. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Waist yaw and knee on a 60–80 kg humanoid. 450 N·m peak is the working number for a sit-to-stand cycle.
- Φ23 mm bore — the largest in the standard series, enough for a power and sensor bundle through the torso joint.
- 500 N·m sensor range covers the peak so contact is measured rather than clipped.
- Off-the-shelf drawings and ESI — the frame with the most reference builds behind it.
When it is the wrong choice
- When 300 N·m is the requirement. That is R120-MAX; the two are different machines, not two options of one.
- Arm axes. 4.1 kg at the shoulder is only reasonable on a very large platform.
- Feet and ankles. Harmonic drive in a shock path is still the wrong answer.
Alternatives at a similar level
- Crabnova CE-RBV3-R120-MAX — 300 N·m rated, 550 N·m peak, 4.20 kg, 600 N·m sensor on RS-485
- Crabnova CE-RBV3-R102-161 — 147 N·m at 2.60 kg for smaller torsos
- Tongchuan TCHL-32 — 169 N·m at 3.30 kg — one kilogram lighter, sensor optional
- EYOU RHU40H-130 — 248–363 N·m at 5.82 kg with a Φ22 bore
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
CE-RBV3-R120-161 FAQ
R120 or R120-MAX?
R120 is 180 N·m rated, 450 N·m peak, 4.10 kg. R120-MAX is 300 N·m and 550 N·m at 4.20 kg. Same frame, same ratio, different machine — and the MAX sensor outputs on RS-485 rather than the motion bus.
Does the brake hold a torso?
It holds the rated static torque at power-off. Whether that is enough depends on where the centre of mass sits relative to the joint — send us the pose and we will check the gravity torque.
What is the difference between 161:1 here and 101:1 elsewhere?
Two different machines that share a catalogue column in some documents. We quote to the drawing, and the drawing for this frame says 161:1.
How long does it take to ship?
Confirmed per order at quotation.
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