1 5
CmdRob

CmdRob L70I Motor

$920.00
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 L70I L70I L70I
Reduction Ratio 51 81 101
Input Voltage 48 (±10%)V 48 (±10%)V 48 (±10%)V
Maximum Torque 46N.m 61N.m 70N.m

4.69kgf.m    6.22kgf.m    7.14kgf.m
Average Load Torque 9N.m 14N.m 14N.m

0.92kgf.m 1.43kgf.m 1.43kgf.m
Start-Stop Peak Torque 23N.m 30N.m 36N.m
2.35kgf.m  3.06kgf.m  3.67kgf.m0
Maximum Speed 107.8r/min 67.9r/min 54.5r/min
Rated Speed 58.8r/min 37.0r/min 29.7r/min
Motor Torque Constant 0.08N·m/A 0.08N·m/A 0.08N·m/A


0.0082kgf·m/A 0.0082kgf·m/A 0.0082kgf·m/A
Maximum Current 8.25A 6.77A 6.52A
Allowable Continuous Current 3.23A 3.16A 2.53A
Back EMF Constant 6.15V/krpm 6.15V/krpm 6.15V/krpm
Phase Resistance (20°C) 0.39Ω 0.39Ω 0.39Ω
Phase Inductance 0.3mH 0.3mH 0.3mH
Moment of Inertia 37.6(kg·mm²) 37.6(kg·mm²) 37.6(kg·mm²)

37.6*10^-4(kgf·cm·s²) 37.6*10^-4J(kgf·cm·s²) 37.6*10^-4J(kgf·cm·s²)
Repeatable Positioning Accuracy<sup>(1)</sup> 20arc-sec 20arc-sec 20arc-sec
Positioning Accuracy<sup>(2)</sup> 60arc-sec 60arc-sec 60arc-sec
Bus Communication Protocol 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)
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)
Output Shaft Resolution 6,684,672pulses/rev 10,616,832pulses/rev 13,238,272pulses/rev
Mass 1.4KG 1.4KG 1.4KG
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
Design Life（H） 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)

Mounting Orientation

 Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting

Protection Rating

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

CmdRob-L170I-C-XXX-BF-C00-2D-Drawing.pdf
CmdRob-L70I-E-XXX-BF-A01-2D-Drawing.pdf
CmdRob-L170I-E-XXX-BF-C00.stp
CmdRob-L170I-C-XXX-BF-C00.stp