MyActuator RMD-X6-50-L Motor

Application Scenarios

Humanoid Robots

Robotic Arms

Exoskeletons

Quadruped Robots

AGV Vehicles

ARU Robots

Parameter	Value
Model	X6-50-L
Reduction Ratio	19.612
Input Voltage	48 V
Voltage Range	20-55 V
No-load Speed	176 RPM
No-load Input Current	0.9 A
Rated Speed	153 RPM
Rated Torque	20 N.m
Rated Output Power	320 W
Rated Phase Current	9.5 A(rms) / 13.4 A(peak)
Peak Torque	45 N.m
Stall Torque	50 N.m
Stall Phase Current	35.4 A(rms)
Efficiency	74.5 %
Motor Back EMF Constant	11.7 Vdc/Krpm
Module Torque Constant	1.8 N.m/A(rms) / 1.3 N.m/A(peak)
Motor Line Resistance	0.4 Ω
Motor Line Inductance	0.504 mH
Pole Pairs	10
Wiring Mode	Y
Backdrive Torque	0.2 N.m
Backlash	15 Arcmin
Output Shaft Bearing Model	XRBT 505
Axial Load C	1.2 KN
Radial Load Cr	1.6 KN
Moment of Inertia	0.0019 Kg.m²
Encoder Type	Dual Encoder ABS 17BIT/19BIT
Absolute Positioning Accuracy	0.4 Degree
Repeat Positioning Accuracy	0.4 Degree
Communication Interface	EtherCAT / CAN BUS
Weight	0.78 Kg
Insulation Class	F
Dimensions	80x63.5 mm
Hollow Shaft Diameter	8.6 mm
Note	1. The maximum operating voltage of the motor is 55V. It is recommended that customers add an external capacitor to regulate voltage, so as to ensure stable battery power supply and protect the PCB from damage caused by voltage fluctuations. 2. If voltage exceeds the rated value, the operating speed must not exceed the motor's rated speed.