Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ68 mm · 82.6 mm body length |
| Ratio | 101:1 |
| Rated torque | 33 N·m |
| Peak torque | 82 N·m |
| Rated output speed | 30 rpm |
| Weight | 1.15 kg |
| Torque sensor | 120 N·m range, integrated |
| Encoder | Dual 23-bit magnetic |
| Comms | CANopen / CAN FD / EtherCAT · ESI GDESC_CIA402_V4_JX |
| Supply | 48 V DC · 5.42 A rated / 16.3 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
- The default shoulder and elbow frame. 82 N·m peak carries a 5 kg arm through a normal service envelope.
- Brake and sensor included as standard — no accessory design, no extra envelope.
- 120 N·m sensor covers the peak with margin, so contact events are logged rather than clipped.
- One bus, one ESI across the series, which matters when the same build has R58 wrists and R120 waists.
When it is the wrong choice
- Full-size humanoid knees. 33 N·m will not carry a 70 kg platform — that is R120-MAX or a bigger harmonic line.
- Wrist-only axes. R58 does it at less than half the mass.
- Ankles and feet. Harmonic drive plus a holding brake is the wrong combination in a shock path.
Alternatives at a similar level
- Crabnova CE-RBV3-R83-101 — 53 N·m at 1.60 kg — shoulder and waist
- Crabnova CE-RBV3-R58-101 — 20 N·m at 0.495 kg for wrists
- Tongchuan TCHL-20 — 49 N·m at 1.28 kg, sensor optional
- EYOU RHU25L-80 — 47 N·m at 100:1, 1.27 kg, -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-R68-101 FAQ
Is this the same joint as RBV1 R68?
No. RBV1 R68 is quoted at 33/82 as well, but RBV3 adds the brake and the torque sensor inside the same frame, and the mass differs. If a quote says R68, check which series before comparing prices.
What does the 30 rpm output speed mean in practice?
It is the rated output speed at the rated torque. A shoulder that has to lift through 120° in a second is fine; a high-speed sorting wrist is not.
Can the connector be IP-rated?
Crabnova builds IP67 variants on request — if the joint goes into a washdown or outdoor cell, say so before the order, because it changes the part number.
How long does it take to ship?
Confirmed per order at quotation.
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