ESTUN Codroid SA20 SA-Series Rigid Joint Module (52 N·m rated)
Vendor: ESTUN Codroid
Product: SA20
ESTUN Codroid (embodied-AI arm of ESTUN) SA-series rigid joint module SA20: rated torque 52 N·m, start/stop max 107 N·m, instantaneous peak 191 N·m, rated speed 34.6 RPM. Integrates driver, dual encoders, harmonic reducer, torque sensor, motor and electromagnetic brake in one unit; ratio 101, 8mm hollow shaft, dual 19-bit absolute magnetic encoders, EtherCAT/CiA402, 48VDC, IP54, ±0.01° positioning. Built for collaborative and humanoid robots, suited for medium joints.
| Bus | EtherCAT (CiA402) 4kHz |
| Model | SA20 |
| Encoder | （ 19bit） |
| Reducer | （ 101 ） |
| Voltage | 48VDC |
| Ip Rating | IP54 |
| Max Speed | 39.8 RPM |
| Gear Ratio | 101 |
| Rated Power | 366 W |
| Rated Speed | 34.6 RPM |
| Vendor Site | https://www.codroid.ai |
| Hollow Shaft | 8 mm |
| Peak Current | 29.1 A |
| Rated Torque | 52 N·m |
| Rated Current | 9.7 A |
| Instant Max Torque | 191 N·m |
| Positioning Accuracy | ±0.01° |
| Startstop Max Torque | 107 N·m |