Based on the R102 specifications:
- Torque: 147 N·m rated, 350 N·m peak, for both DBN-I and FBT-I.
- Brake: both configurations include an integrated brake.
- Torque sensor: FBT-I has an integrated torque sensor; DBN-I does not. For the FBT-I / RBV3 force-control configuration the sensor spec is ≤0.5% FS accuracy and 0.1% FS resolution.
- EtherCAT: yes. The listed protocols are EtherCAT / CANopen, and the RBV3 documentation also lists CANopen / CANFD / EtherCAT.
So the practical difference is simple: DBN-I is the basic configuration, FBT-I adds the torque sensor and is meant for force/torque control. Everything else (147 N·m rated, 350 N·m peak, brake, EtherCAT) is shared.
