CmdRob M110 Motor

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Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Model M110 M110 M110 M110 Reduction Ratio 51 81 10 1 121 Input Voltage 220 (±10%)V 220 (±10%)V 220 (±10%)V 220 (±10%)V Ultimate Torque 242N.m 332N.m 369N.m 395N.m 24.69kgf.m 33.88kgf.m 37.65kgf.m 40.30kgf.m Average Load Torque 72N.m 113N.m 140N.m 140N.m 7.34kgf.m 11.5kgf.m 14.29kgf.m 14.29kgf.m Start-Stop Peak Torque 127N.m 178N.m 204N.m 217N.m 12.95kgf.m 18.16kgf.m 20.82kgf.m 22.14kgf.m Maximum Speed 110r/min 70r/min 56r/min 47r/min Rated Speed 60r/min 37r/min 30r/min 25r/min Motor Torque Constant 0.44N·m/A 0.44N·m/A 0.44N·m/A 0.44N·m/A 0.045kgf·m/A 0.045kgf·m/A 0.045kgf·m/A 0.045kgf·m/A Maximum Current 8.15A 7.19A 6.61A 5.87A Allowable Continuous Current 4.62A 4.57A 4.54A 5.87A Back EMF Constant 27.51V/krpm 27.51V/krpm 27.51V/krpm 27.51V/krpm Phase Resistance (20°C) 0.51Ω 0.51Ω 0.51Ω 0.51Ω Phase Inductance 1.75mH 1.75mH 1.75mH 1.75mH Moment of Inertia 280(kg·mm²) 280(kg·mm²) 280(kg·mm²) 280(kg·mm²) 280*10^-4(kgf·cm·s²) 280*10^-4(kgf·cm·s²) 280*10^-4(kgf·cm·s²) 280*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 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 3.5 KG 3.5 KG 3.5 KG 3.5 KG Ambient Environmental Conditions Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °COperating/Storage Humidity: 20 to 80%RH (non-condensing)Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)Shock Resistance: 300 m/s²Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.Usage: Indoor use, avoid direct sunlightAltitude: Below 1000 m Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °COperating/Storage Humidity: 20 to 80%RH (non-condensing)Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)Shock Resistance: 300 m/s²Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.Usage: Indoor use, avoid direct sunlightAltitude: Below 1000 m Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °COperating/Storage Humidity: 20 to 80%RH (non-condensing)Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)Shock Resistance: 300 m/s²Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.Usage: Indoor use, avoid direct sunlightAltitude: Below 1000 m Operating Temperature: 0 to 40 °C / Storage Temperature: -20 to 60 °COperating/Storage Humidity: 20 to 80%RH (non-condensing)Vibration Resistance: 25 m/s² (Frequency: 10 to 400 Hz)Shock Resistance: 300 m/s²Environment: Free from dust, metal powder, corrosive gases, flammable gases, oil mist, etc.Usage: Indoor use, avoid direct sunlightAltitude: 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 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or more (at DC 500 V)Dielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or more (at DC 500 V)Dielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Insulation Resistance: 500 MΩ or more (at DC 500 V)Dielectric Strength: AC 1500 V / 1 minInsulation Class: Class F (155°C) Mounting Orientation Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting Omnidirectional Mounting Model M110 M110 M110 M110 CmdRob-M110-D-XXX-BF-C00-2D-Drawing.pdfCmdRob-M110-D-XXX-BS-C00-2D-Drawing.pdfCmdRob-M110-D-XXX-BS-C00.stpCmdRob-M110-D-XXX-BF-C00.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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