Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ58 × 58 mm |
| Ratio | 101:1 |
| Rated torque | 20 N·m |
| Peak torque | 45 N·m |
| Rated output speed | 30 rpm |
| Weight | 0.495 kg |
| Through-bore | Φ8 mm |
| Torque sensor | 70 N·m range, integrated |
| Encoder | Dual 23-bit magnetic |
| Comms | CANopen / CAN FD / EtherCAT · ESI GDESC_CIA402_V4_JX |
| Supply | 48 V DC · 3.5 A rated / 10.8 A peak |
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
- Wrist and elbow on a small humanoid. 20 N·m continuous carries a hand and a light forearm without a Φ68 frame.
- A 70 N·m sensor covers the joint properly — more than three times the rated torque, so peak events are measured rather than clipped.
- Under 500 g with brake and sensor is hard to match at this torque class.
- Same ESI and connector family as the rest of RBV3, so one configuration file covers the build.
When it is the wrong choice
- Shoulder or waist. 45 N·m peak is wrist territory; the R68 and R83 start there.
- Neck axes with a light head. The R48 does the same job at 0.276 kg.
- Shock-loaded axes — harmonic drive, and the brake is a holding brake, not a dynamic one.
Alternatives at a similar level
- Crabnova CE-RBV3-R68-101 — 33 N·m, 1.15 kg — shoulder and elbow
- Crabnova CE-RBV3-R48-101 — 6.5 N·m at 0.276 kg for necks and small wrists
- Tongchuan TCHL-17 — 29 N·m at 0.93 kg in a Φ77 frame, torque sensor optional
- EYOU RHU17L-60 — 16–27 N·m in a Φ60 frame at 521 g, -F force control
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
CE-RBV3-R58-101 FAQ
Why is the sensor range 70 N·m on a 20 N·m joint?
Because the sensor should survive the peak, not just the rating. 70 N·m covers the 45 N·m peak plus margin, so a shock is measured rather than saturated.
R58 or R68?
R58 when the axis is a wrist or a light elbow and mass matters; R68 when the same axis also takes shoulder loads. The jump is 20 → 33 N·m for 0.65 kg.
Is the brake dynamic or holding?
Holding: it engages at power-off and resists static torque. Do not plan a motion profile that relies on it to stop a moving load.
How long does it take to ship?
Confirmed per order at quotation.
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