Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ43 × 48.3 mm |
| Ratio | 101:1 (single ratio in the PHA series) |
| Rated torque @2000 rpm input | 1.65 N·m |
| Average output torque | 2.3 N·m |
| Start–stop peak | 3.3 N·m |
| Instantaneous max | 6.3 N·m |
| Weight | 207 g |
| Supply voltage | 24–36 V |
| Encoder | Absolute, integrated in the joint |
| Comms | CAN, per configuration |
Source: EYOU (Yiyou Robot) selection manual 2026.08, p. 9. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- 207 g with a full harmonic stage. The smallest frame in our catalogue; a planetary of similar torque is lighter still but carries backlash, and this one does not.
- 24–36 V. Runs off the same battery as a hand or a small mobile base rather than needing a 48 V rail.
- High reduction at a small diameter. 101:1 in Φ43 means the motor sits inside the joint instead of beside it — useful when the axis is inside a forearm.
- Same protocol and connector family as the rest of PHA and PHU, so a finger built on PHA08L and an elbow built on PHA17H share one controller.
When it is the wrong choice
- 6.3 N·m is the hard ceiling. Anything that can be back-driven by hand, hit a stop or take a fall will exceed it — use a clutch or a compliant mount, not a bigger current limit.
- No ratio choice. The PHA series is 101:1 across all four frames, so if you need a faster output you change frame or series, not ratio.
- Not a candidate for grip force. Fingers closing on an object want 5–30 N·m at the knuckle — step up to PHA14H or use a hand with the actuator built in.
Alternatives at a similar level
- EYOU PHA11H-101-C — 5 N·m at 375 g — one frame up, same 24–48 V supply
- EYOU PHA14H-101-C — 9.6 N·m at 645 g — wrist and elbow territory
- DAMIAO DM-J4310 — Planetary, 3 N·m peak, cheaper — but with backlash
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHA08L-101-C FAQ
What would I actually use a 1.65 N·m harmonic joint for?
Finger proximal joints, wrist roll on a small arm, camera pan-tilt axes and the last axis of a light manipulator — anywhere you need zero backlash and a hollow-ish centre at a couple of hundred grams. It is not a load-bearing axis.
Is there a brake?
Not on this frame. Below Φ52 the PHA series is documented without a power-off brake, so if the axis has to hold position with power removed, plan a mechanical counterbalance or move to a PHU frame from Φ52 up.
How long does it take to ship?
Confirmed per order at quotation — it depends on the connector and cable build and on what the factory has on the shelf that week. The quotation carries the ship date we are working to.
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