CmdRob M142 Motor

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Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Model M142 M142 M142 M142 Reduction Ratio 51 81 10 1 121 Input Voltage 220 (±10%)V 220 (±10%)V 220 (±10%)V 220 (±10%)V Maximum Torque 497N.m 738N.m 841N.m 892N.m 50.71kgf.m 75.30kgf.m 85.82kgf.m 91.02kgf.m Average Load Torque 140N.m 217N.m 281N.m 281N.m 14.29kgf.m 22.14kgf.m 28.67kgf.m 28.67kgf.m Start-Stop Peak Torque 281N.m 395N.m 433N.m 459N.m 28.67kgf.m 40.30kgf.m 44.18kgf.m 46.84kgf.m Maximum Speed 95r/min 60r/min 48r/min 40r/min Rated Speed 60r/min 37r/min 30r/min 25r/min Motor Torque Constant 0.59N·m/A 0.59N·m/A 0.59N·m/A 0.59N·m/A 0.006kgf·m/A 0.006kgf·m/A 0.006kgf·m/A 0.006kgf·m/A Maximum Current 10.94A 9.68A 8.51A 7.53A Allowable Continuous Current 5.45A 5.32A 5.52A 4.61A Back EMF Constant 42.1V/krpm 42.1V/krpm 42.1V/krpm 42.1V/krpm Phase Resistance (20°C) 0.46Ω 0.46Ω 0.46Ω 0.46Ω Phase Inductance 2.5mH 2.5mH 2.5mH 2.5mH Moment of Inertia 680(kg·mm²) 680(kg·mm²) 680(kg·mm²) 680(kg·mm²) 680*10^-4(kgf·cm·s²) 680*10^-4(kgf·cm·s²) 680*10^-4(kgf·cm·s²) 680*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 6.5 KG 6.5 KG 6.5 KG 6.5 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 Protection Rating Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) Totally Enclosed, Non-Ventilated (IP54) CmdRob-M142-D-XXX-BS-C00-2D-Drawing.pdfCmdRob-M142-D-XXX-BF-C00-2D-Drawing.pdfCmdRob-M142-D-XXX-BS-C00.stpCmdRob-M142-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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