Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ70 × 61.5 mm |
| Ratio | 101:1 |
| Rated torque @2000 rpm input | 9.6 N·m |
| Average output torque | 13.5 N·m |
| Start–stop peak | 34 N·m |
| Instantaneous max | 66 N·m |
| Weight | 645 g |
| Encoder | Absolute, integrated |
| 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
- 34 N·m start–stop is the number that matters for an arm. Accelerating a forearm and a hand is a start–stop duty, not a continuous one, and this frame is rated 2.5× higher there than at continuous load.
- 645 g at Φ70 leaves room in a forearm. A planetary of the same torque is lighter but needs a belt or a second stage, which usually costs more mass overall.
- Half a kilo lighter than PHU14H-70 at the same rated torque — the honest pick when the axis is position-controlled.
- Sealed, self-contained joint. No exposed belt, no separate encoder bracket, which is typically what fails first on a prototype arm.
When it is the wrong choice
- Continuous torque is the weak side. 13.5 N·m average load is modest: a shoulder pitching a 2 kg payload through a long lever will sit above it. For shoulder pitch step up to PHA17H.
- Single ratio. 101:1 fixes the speed–torque trade; if your joint needs 3 rad/s at the output, this is not the frame.
- No force control. Contact-rich work needs a torque sensor or a PHU force-control build.
Alternatives at a similar level
- EYOU PHA17H-101-C — 30 N·m rated at 900 g — the shoulder frame
- Tongchuan TCHL-14 — Brake and sensor variants at a comparable envelope
- EYOU PHU14H-70 — Same Φ70, dual encoder, force-control option
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHA14H-101-C FAQ
Should I size on rated or start-stop torque?
For an arm axis, size the acceleration on start–stop (34 N·m) and the steady holding load on average output (13.5 N·m). Mixing the two is the most common sizing error we see: rated torque at 2000 rpm input is a catalogue condition, not a working limit for a moving joint.
Does it have a brake?
Not as standard on this frame. If the axis holds a load with power off, ask for the brake build or plan a counterbalance — we confirm per order which frames are available with one.
How long does it take to ship?
Confirmed per order at quotation, based on the connector build and the factory schedule at the time. The quotation carries the date we are working to.
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