ESTUN Codroid SA32 SA-Series Rigid Joint Module (178 N·m rated)
Vendor: ESTUN Codroid
Product: SA32
ESTUN Codroid (embodied-AI arm of ESTUN) SA-series rigid joint module SA32: rated torque 178 N·m, start/stop max 459 N·m, instantaneous peak 892 N·m, rated speed 24.7 RPM. Integrates driver, dual encoders, harmonic reducer, torque sensor, motor and electromagnetic brake in one unit; ratio 121, 16mm hollow shaft, dual 19-bit absolute magnetic encoders, EtherCAT/CiA402, 48VDC, IP54, ±0.01° positioning. Built for collaborative and humanoid robots, suited for large joints (hip/shoulder).
| Bus | EtherCAT (CiA402) 4kHz |
| Model | SA32 |
| Encoder | （ 19bit） |
| Reducer | （ 121 ） |
| Voltage | 48VDC |
| Ip Rating | IP54 |
| Max Speed | 31 RPM |
| Gear Ratio | 121 |
| Rated Power | 1000 W |
| Rated Speed | 24.7 RPM |
| Vendor Site | https://www.codroid.ai |
| Hollow Shaft | 16 mm |
| Peak Current | 89.0 A |
| Rated Torque | 178 N·m |
| Rated Current | 27.0 A |
| Instant Max Torque | 892 N·m |
| Positioning Accuracy | ±0.01° |
| Startstop Max Torque | 459 N·m |