1 4
CmdRob

CmdRob M90 Motor

$670.00
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 M90 M90 M90 M90
Reduction Ratio 51 81 101 121
Input Voltage 220 (±10%)V 220 (±10%)V 220 (±10%)V 220 (±10%)V
Maximum Torque 127N.m 165N.m 191N.m 191N.m

12.96kgf.m  16.83kgf.m  19.49kgf.m  19.49kgf.m 
Average Load Torque 44N.m 61N.m 64N.m 64N.m

4.49kgf.m  6.22kgf.m  6.53kgf.m  6.53kgf.m 
Start-Stop Peak Torque 73N.m 96N.m 107N.m 113N.m
7.45kgf.m  9.79kgf.m  10.92kgf.m  11.53kgf.m 
Maximum Speed 118r/min 75r/min 60r/min 50r/min
Rated Speed 59r/min 37r/min 30r/min 25r/min
Motor Torque Constant 0.40N·m/A 0.40N·m/A 0.40N·m/A 0.40N·m/A


0.041kgf·m/A 0.041kgf·m/A 0.041kgf·m/A 0.041kgf·m/A
Maximum Current 5.17A 4.28A 3.82A 3.37A
Allowable Continuous Current 3.11A 2.72A 2.29A 1.91A
Back EMF Constant 26.72V/krpm 26.72V/krpm 26.72V/krpm 26.72V/krpm
Phase Resistance (20°C) 1.56Ω 1.56Ω 1.56Ω 1.56Ω
Phase Inductance 3.67mH 3.67mH 3.67mH 3.67mH
Moment of Inertia 116(kg·mm²) 116(kg·mm²) 116(kg·mm²) 116(kg·mm²)

116*10^-4(kgf·cm·s²) 116*10^-4(kgf·cm·s²) 116*10^-4(kgf·cm·s²) 116*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 1.9 KG 1.9 KG 1.9 KG 1.9 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 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-M90-D-XXX-BF-C00-2D-Drawing.pdf
CmdRob-M90-D-XXX-BS-C00-2D-Drawing.pdf
CmdRob-M90-D-XXX-BS-C00.stp
CmdRob-M90-D-XXX-BF-C00.stp