Description
xApplication Scenarios
Humanoid Robots
Robotic Arms
Exoskeletons
Quadruped Robots
AGV Vehicles
ARU Robots
Technical Specifications
| Parameter | Value |
|---|---|
| Nominal voltage | 36V |
| Voltage range | 24-48V |
| Power | 170W |
| Nominal torque | 9N·m |
| Stall torque | 22N·m |
| Nominal speed after reduction | 180RPM |
| Max speed after reduction | 440RPM |
| Nominal current | 15A |
| Stall current | 45A |
| Phase to phase resistance | 0.155Ω |
| Phase to phase inductance | 0.049mH |
| Speed constant | 9.357rpm/V |
| Torque constant | 0.60N·m/A |
| Rotor inertia | 44.00g·cm² |
| Number of pole pairs | 21 pairs |
| Gear ratio | 9:1 |
| Gear type | Planetary |
| Reducer gear material | STEEL |
| Reducer gear backlash | <6arcmin |
| Motor weight without driver | 525g |
| Motor weight with driver | 567g |
| Size without driver | Ø69.6×34mm |
| Size with driver | Ø96×41.5mm |
| Max axial load | 800N |
| Max radial load | 900N |
| Noise | <60dB |
| Protection grade | Only motor is IP54 |
| Working temperature range | -20℃ to +80℃ |
| MIT open source driver protocol | CAN |
| CAN baudrate | 1Mbps |
| V1.0 driver (MIT version) input voltage | 24V |
| V2.0 driver (MIT version) input voltage | 24-48V |
| Communication frequency | CAN: 300Hz (1Mbps) |
| Control mode | Torque Loop (40kHz)/Speed Loop (40kHz)/Position Loop (40kHz) |
| Resolution of the encoder on the driver | 12Bit |
| Reducer end encoder accuracy | No |
| Support for second encoder (on output shaft) | No |
| Support for separate encoder | Yes |
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