1 5
CmdRob

CmdRob L170I Motor

$2,050.00
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 L170I L170I L170I L170I
Reduction Ratio 51 81 101 121
Input Voltage 48 (±10%)V 48 (±10%)V 48 (±10%)V 48 (±10%)V
Maximum Torque 892N.m 1270N.m 1400N.m 1530N.m

91.02kgf.m  129.59kgf.m  142.86kgf.m  156.12kgf.m
Average Load Torque 225N.m 369N.m 484N.m 586N.m

22.96kgf.m  37.65kgf.m  49.39kgf.m  59.80kgf.m
Start-Stop Peak Torque 523N.m 675N.m 738N.m 802N.m
53.37kgf.m  68.88kgf.m  75.31kgf.m  81.84kgf.m
Maximum Speed 49.0r/min 30.9r/min 24.8r/min 20.7r/min
Rated Speed 39.2r/min 24.7r/min 19.8r/min 16.5r/min
Motor Torque Constant 0.17N·m/A 0.17N·m/A 0.17N·m/A 0.17N·m/A


0.0173kgf·m/A 0.0173kgf·m/A 0.0173kgf·m/A 0.0173kgf·m/A
Maximum Current 84.01A 68.27A 59.86A 54.30A
Allowable Continuous Current 40.96A 37.32A 39.26A 39.67A
Back EMF Constant 11.56V/krpm 11.56V/krpm 11.56V/krpm 11.56V/krpm
Phase Resistance (20°C) 0.014Ω 0.014Ω 0.014Ω 0.014Ω
Phase Inductance 0.067mH 0.067mH 0.067mH 0.067mH
Moment of Inertia / / / /
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 9.3 KG 9.3 KG 9.3 KG 9.3 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-L170I-E-XXX-BF-C00-2D-Drawing.pdf
CmdRob-L170I-C-XXX-BF-C00-2D-Drawing.pdf
CmdRob-L170I-C-XXX-BF-C00.stp
CmdRob-L170I-E-XXX-BF-C00.stp