# ZeroErr eRob110I Harmonic Rotary Actuator (100:1)

![ZeroErr eRob110I Harmonic Rotary Actuator (100:1)](https://parts.trymaglev.com/img/ac-zeroerr-erob110i-100.webp)

Ø110 mm hollow-bore (Ø18 mm) strain-wave joint with built-in servo drive, dual absolute encoders and motor-side friction brake, for cobot and humanoid arm joints that need zero backlash.

- Maglev ID: ac-zeroerr-erob110i-100
- Brand: ZeroErr
- MPN: eRob110H100I
- Category: actuators / Integrated Joint Actuators
- Origin: CN (maker HQ, factory not confirmed)
- Maker: ZeroErr (零差云控（深圳）科技) (brand, CN)
- NDAA: unknown · Blue UAS: unknown · FCC: n/a
- HTS: 8501.31.40.00 (typical)
- MOQ: unknown · Lead time: unknown
- Confidence: VERIFIED

## Price
- 1+: $1,470 (distributor, 2026-10-30, https://aifitlab.com/products/zeroerr-erob-110-i-motor; variant: CANopen with brake / ratio 100 / no multi-turn, no torque sensing; EtherCAT with brake is $1510)
- 1+: $2,137 (distributor, 2026-10-30, https://rcdrone.top/products/zeroerr-erob-110-i-motor; variant: CANopen with brake / ratio 100 / no multi-turn, no torque sensing)

## Specifications
- Peak torque: 369 N·m momentary peak limit; 204 N·m repeated peak limit
- Rated torque: 87 N·m (rated torque L10)
- Gear ratio: 100:1 strain-wave (zero-backlash gearing); 50/80/120 also offered
- Voltage: 48 VDC nominal
- Mass: 2680 g (series weight as listed)
- Interface: EtherCAT or CANopen (also Modbus, RS485, I/O, analog in, STO listed)
- Encoder: Dual absolute (motor + output), output 19-bit
- Size: Ø110 mm x 80.2 mm, Ø18 mm hollow bore

## Links
- Product: https://en.zeroerr.cn/rotary_actuators/erob110i
- Datasheet: https://www.zeroerr.com/preview/erob110i_en.html
- CAD: none

## Equivalents
- Leadshine HJ2-110F101D24-NK-EC Harmonic Integrated Actuator (110 mm, EtherCAT) (ac-leadshine-hj2-110f101d24-nk-ec)

## Sources
- https://www.zeroerr.com/preview/erob110i_en.html (full spec + torque table (iframe content of the product page), photos)
- https://en.zeroerr.cn/rotary_actuators/erob110i (maker product page)
- https://aifitlab.com/products/zeroerr-erob-110-i-motor (USD price by variant)
- https://rcdrone.top/products/zeroerr-erob-110-i-motor (USD price by variant)