CmdRob L110I Motor

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Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Model L110I L110I L110I L110I Reduction Ratio 51 8 1 101 121 Input Voltage 48 (±10%)V 48 (±10%)V 48 (±10%)V 48 (±10%)V Maximum Torque 242N.m 332N.m 369N.m 395N.m 24.69kgf.m 33.88kgf.m 37.65kgf.m 40.31kgf.m Average Load Torque 72N.m 113N.m 140N.m 140N.m 7.35kgf.m 11.53kgf.m 14.29kgf.m 14.29kgf.m Start-Stop Peak Torque 127N.m 178N.m 204N.m 217N.m 12.96kgf.m 18.16kgf.m 20.82kgf.m 22.14kgf.m Maximum Speed 78.4r/min 49.4r/min 39.6r/min 33.1r/min Rated Speed 58.8r/min 37.0r/min 29.7r/min 24.8r/min Motor Torque Constant 0.11N·m/A 0.11N·m/A 0.11N·m/A 0.11N·m/A 0.0112kgf·m/A 0.0112kgf·m/A 0.0112kgf·m/A 0.0112kgf·m/A Maximum Current 32.42A 28.61A 26.30A 23.35A Allowable Continuous Current 18.38A 18.16A 18.05A 15.07A Back EMF Constant 6.88V/krpm 6.88V/krpm 6.88V/krpm 6.88V/krpm Phase Resistance (20°C) 0.033Ω 0.033Ω 0.033Ω 0.033Ω Phase Inductance 0.11mH 0.11mH 0.11mH 0.11mH Moment of Inertia 201(kg·mm²) 201(kg·mm²) 201(kg·mm²) 201(kg·mm²) 201*10^-4(kgf·cm·s²) 201*10^-4(kgf·cm·s²) 201*10^-4(kgf·cm·s²) 201*10^-4(kgf·cm·s²) Repeatable Positioning Accuracy(1) 20arc-sec 20arc-sec 20arc-sec 20arc-sec Positioning Accuracy(2) 60arc-sec 60arc-sec 60arc-sec 60arc-sec Bus Communication Protocol Canopen / EtherCAT 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) 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 3.1 KG 3.1 KG 3.1 KG 3.1 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 10000 10000 10000 Motor Insulation Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or greaterDielectric Strength: AC 1500 V / 1 minInsulation 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-L110I-E-XXX-BF-A01-2D-Drawing.pdfCmdRob-L110I-C-XXX-BF-A01-2D-Drawing.pdfCmdRob-L110I-E-XXX-BF-A01.stpCmdRob-L110I-C-XXX-BF-A01.stp @media (max-width: 768px) { div[style*="grid-template-columns: repeat(auto-fit, minmax(160px, 1fr))"] { grid-template-columns: repeat(2, 1fr) !important; 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