1 4
CmdRob

CmdRob M170 Motor

$1,300.00
Version
Reduction Ratio

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Product Information


Application Scenarios

Humanoid Robots
Robotic Arms
Exoskeletons
Quadruped Robots
AGV Vehicles
ARU Robots

Technical Specifications

Model M170 M170 M170 M170
Reduction Ratio 51 81 101 121
Input Voltage 220 (±10%)V 220 (±10%)V 220 (±10%)V 220 (±10%)V
Maximum Torque 892N.m 1270N.m 1400N.m 1530N.m

91.02kgf.m    129.59kgf.m    142.85kgf.m    156.12kgf.m
Average Load Torque 255N.m 369N.m 484N.m 586N.m

26.02kgf.m    37.65kgf.m    49.38kgf.m    59.79kgf.m
Start-Stop Peak Torque 523N.m 675N.m 738N.m 802N.m
53.36kgf.m    68.87kgf.m    75.30kgf.m    81.83kgf.m
Maximum Speed 80r/min 50r/min 40r/min 33r/min
Rated Speed 40r/min 25r/min 20r/min 17r/min
Motor Torque Constant 0.72N·m/A 0.67N·m/A 0.67N·m/A 0.67N·m/A


0.073kgf·m/A 0.068kgf·m/A 0.068kgf·m/A 0.068kgf·m/A
Maximum Current 20.49A 17.82A 15.62A 14.17A
Allowable Continuous Current 9.99A 9.74A 10.24A 10.35A
Back EMF Constant 53.7V/krpm 53.7V/krpm 53.7V/krpm 53.7V/krpm
Phase Resistance (20°C) 0.298Ω 0.298Ω 0.298Ω 0.298Ω
Phase Inductance 0.99mH 0.99mH 0.99mH 0.99mH
Moment of Inertia 1819.4(kg·mm²) 1819.4(kg·mm²) 1819.4(kg·mm²) 1819.4(kg·mm²)

1819.4*10^-4(kgf·cm·s²) 1819.4*10^-4(kgf·cm·s²) 1819.4*10^-4(kgf·cm·s²) 1819.4*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
Encoder Communication Protocol BISS / TAMAGAWA BISS / TAMAGAWA BISS / TAMAGAWA BISS / TAMAGAWA
Encoder Communication Interface BISS-C / TAMAGAWA BISS-C / TAMAGAWA BISS-C / TAMAGAWA BISS-C / TAMAGAWA
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 8.3 KG 8.3 KG 8.3 KG 8.3 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 15000 15000 15000

Motor Insulation

 Insulation Resistance: 500 MΩ or more (at DC 500 V)
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)		 Insulation Resistance: 500 MΩ or more (at DC 500 V)
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)		 Insulation Resistance: 500 MΩ or more (at DC 500 V)
Dielectric Strength: AC 1500 V / 1 min
Insulation Class: Class F (155°C)		 Insulation Resistance: 500 MΩ or more (at DC 500 V)
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-M170-D-XXX-BF-C00-2D-Drawing.pdf
CmdRob-M170-D-XXX-BS-C00-2D-Drawing.pdf
CmdRob-M170-D-XXX-BF-C00.stp
CmdRob-M170-D-XXX-BS-C00.stp