Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ90 × 85.8 mm |
| Ratios | 81:1 / 101:1 / 121:1 |
| Rated torque @2000 rpm input | 42 / 50 / 50 N·m |
| Average output torque | 58 / 61 / 61 N·m |
| Start–stop peak | 91 / 102 / 108 N·m |
| Instantaneous max | 158 / 182 / 182 N·m |
| Weight | 1,582 g |
| Encoder | Dual absolute encoder |
| Force-control version | ±0.5% FS, 0.1% FS resolution, 8 kHz sampling |
| Output flange option | -F suffix adds an output flange (mechanical, not force control) |
Source: EYOU (Yiyou Robot) selection manual 2026.08, pp. 3–5. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Three ratios on one drawing. You can prototype at 101:1 and move to 121:1 for a slower, stronger axis without redrawing the mount.
- Force control available. ±0.5% FS at 8 kHz removes an external torque sensor from an elbow that has to do insertion or wiping.
- 1,582 g is light for 50 N·m plus a dual encoder. The instrumented Tongchuan TCHL-20 at 55 N·m is 1.35 kg, so the two are close — but only this one publishes the 8 kHz loop.
- Φ90 × 85.8 is a common bolt pattern across the EYOU range, so a test rig built on PHU17H-80 accepts this frame with an adapter.
When it is the wrong choice
- 121:1 costs output speed. 108 N·m start–stop is the highest of the three, but a wrist that needs 2–3 rad/s at the output will feel it.
- Heavier than PHA17H for less rated torque. 1,582 g and 50 N·m against 900 g and 30 N·m — the mass buys instrumentation, not torque, so pick it for the sensing not the number.
- -F is not force control — it is an output flange. Name the force-control build explicitly in the enquiry or you will receive the mechanical option.
Alternatives at a similar level
- EYOU PHU25H-110 — 78–84 N·m in a 2.35 kg frame, the next step up
- EYOU PHU17H-80 — 30 N·m at 1,143 g for a lighter elbow
- Tongchuan TCHL-20 — 55 N·m at 1.35 kg if you do not need the 8 kHz loop
Quote this model
Model, quantity and destination is enough to start — we come back with price, availability and the datasheet.
PHU20H-90 FAQ
Which ratio for an elbow?
101:1 is the balanced default: 50 N·m rated, 102 N·m start–stop and enough output speed for a normal reach cycle. 81:1 if the motion is fast and the payload light, 121:1 if the elbow holds a long lever and speed is secondary.
Do I need the force-control build?
Only if the axis has to sense contact — insertion, wiping, hand-guided teaching, collision detection that has to be more sensitive than motor current. For pure position moves the standard build with the dual encoder is enough and cheaper.
How long does it take to ship?
Confirmed per order at quotation. Ratio, flange, brake and force-control configuration all change it, and so does the factory schedule; the quotation states the date.
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