1 5
CmdRob

CmdRob L110I Motor

$1,550.00
Version
Reduction Ratio
Bus communication protocol

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Product Information

Application Scenarios

Humanoid Robots
Robotic Arms
Exoskeletons
Quadruped Robots
AGV Vehicles
ARU Robots

Technical Specifications

Model L110I L110I L110I L110I
Reduction Ratio 51 81 101 121
Input Voltage 48 (±10%)V 48 (±10%)V 48 (±10%)V 48 (±10%)V
Maximum Torque 242N.m 332N.m 369N.m 395N.m

24.69kgf.m 33.88kgf.m 37.65kgf.m 40.31kgf.m
Average Load Torque 72N.m 113N.m 140N.m 140N.m

7.35kgf.m 11.53kgf.m 14.29kgf.m 14.29kgf.m
Start-Stop Peak Torque 127N.m 178N.m 204N.m 217N.m
12.96kgf.m 18.16kgf.m 20.82kgf.m 22.14kgf.m
Maximum Speed 78.4r/min 49.4r/min 39.6r/min 33.1r/min
Rated Speed 58.8r/min 37.0r/min 29.7r/min 24.8r/min
Motor Torque Constant 0.11N·m/A 0.11N·m/A 0.11N·m/A 0.11N·m/A


0.0112kgf·m/A 0.0112kgf·m/A 0.0112kgf·m/A 0.0112kgf·m/A
Maximum Current 32.42A 28.61A 26.30A 23.35A
Allowable Continuous Current 18.38A 18.16A 18.05A 15.07A
Back EMF Constant 6.88V/krpm 6.88V/krpm 6.88V/krpm 6.88V/krpm
Phase Resistance (20°C) 0.033Ω 0.033Ω 0.033Ω 0.033Ω
Phase Inductance 0.11mH 0.11mH 0.11mH 0.11mH
Moment of Inertia 201(kg·mm²) 201(kg·mm²) 201(kg·mm²) 201(kg·mm²)

201*10^-4(kgf·cm·s²) 201*10^-4(kgf·cm·s²) 201*10^-4(kgf·cm·s²) 201*10^-4(kgf·cm·s²)
Repeatable Positioning Accuracy<sup>(1)</sup> 20arc-sec 20arc-sec 20arc-sec 20arc-sec
Positioning Accuracy<sup>(2)</sup> 60arc-sec 60arc-sec 60arc-sec 60arc-sec
Bus Communication Protocol Canopen / EtherCAT Canopen / EtherCAT Canopen / EtherCAT Canopen / EtherCAT
Encoder Resolution(Single-turn) 17-bit (131,072 pulses/rev) 17-bit (131,072 pulses/rev) 17-bit (131,072 pulses/rev) 17-bit (131,072 pulses/rev)
Encoder Resolution(Multi-turn) 16-bit (-32,768 to +32,767 revs) 16-bit (-32,768 to +32,767 revs) 16-bit (-32,768 to +32,767 revs) 16-bit (-32,768 to +32,767 revs)
Output Shaft Resolution 6,684,672pulses/rev 10,616,832pulses/rev 13,238,272pulses/rev 15,859,712pulses/rev
Mass 3.1 KG 3.1 KG 3.1 KG 3.1 KG
Ambient Environmental Conditions

Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C

Operating/Storage Humidity: 20 to 80%RH (non-condensing)

Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)

Shock Resistance: 300 m/s²

Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.

Usage: Indoor use, avoid direct sunlight

Altitude: Below 1000 m

Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C

Operating/Storage Humidity: 20 to 80%RH (non-condensing)

Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)

Shock Resistance: 300 m/s²

Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.

Usage: Indoor use, avoid direct sunlight

Altitude: Below 1000 m

Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C

Operating/Storage Humidity: 20 to 80%RH (non-condensing)

Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)

Shock Resistance: 300 m/s²

Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.

Usage: Indoor use, avoid direct sunlight

Altitude: Below 1000 m

Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °C

Operating/Storage Humidity: 20 to 80%RH (non-condensing)

Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)

Shock Resistance: 300 m/s²

Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.

Usage: Indoor use, avoid direct sunlight

Altitude: Below 1000 m
Design Life（H） 10000 10000 10000 10000

Motor Insulation

 Insulation Resistance: 500 MΩ or greater
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)		 Insulation Resistance: 500 MΩ or greater
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)		 Insulation Resistance: 500 MΩ or greater
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)		 Insulation Resistance: 500 MΩ or greater
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)

Mounting Orientation

 Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting

Protection Rating

 Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54)

CmdRob-L110I-E-XXX-BF-A01-2D-Drawing.pdf
CmdRob-L110I-C-XXX-BF-A01-2D-Drawing.pdf
CmdRob-L110I-E-XXX-BF-A01.stp
CmdRob-L110I-C-XXX-BF-A01.stp