CmdRob M170 Motor

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Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Model M170 M170 M170 M170 Reduction Ratio 51 81 10 1 121 Input Voltage 220 (±10%)V 220 (±10%)V 220 (±10%)V 220 (±10%)V Maximum Torque 892N.m 1270N.m 1400N.m 1530N.m 91.02kgf.m 129.59kgf.m 142.85kgf.m 156.12kgf.m Average Load Torque 255N.m 369N.m 484N.m 586N.m 26.02kgf.m 37.65kgf.m 49.38kgf.m 59.79kgf.m Start-Stop Peak Torque 523N.m 675N.m 738N.m 802N.m 53.36kgf.m 68.87kgf.m 75.30kgf.m 81.83kgf.m Maximum Speed 80r/min 50r/min 40r/min 33r/min Rated Speed 40r/min 25r/min 20r/min 17r/min Motor Torque Constant 0.72N·m/A 0.67N·m/A 0.67N·m/A 0.67N·m/A 0.073kgf·m/A 0.068kgf·m/A 0.068kgf·m/A 0.068kgf·m/A Maximum Current 20.49A 17.82A 15.62A 14.17A Allowable Continuous Current 9.99A 9.74A 10.24A 10.35A Back EMF Constant 53.7V/krpm 53.7V/krpm 53.7V/krpm 53.7V/krpm Phase Resistance (20°C) 0.298Ω 0.298Ω 0.298Ω 0.298Ω Phase Inductance 0.99mH 0.99mH 0.99mH 0.99mH Moment of Inertia 1819.4(kg·mm²) 1819.4(kg·mm²) 1819.4(kg·mm²) 1819.4(kg·mm²) 1819.4*10^-4(kgf·cm·s²) 1819.4*10^-4(kgf·cm·s²) 1819.4*10^-4(kgf·cm·s²) 1819.4*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 8.3 KG 8.3 KG 8.3 KG 8.3 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-M170-D-XXX-BF-C00-2D-Drawing.pdfCmdRob-M170-D-XXX-BS-C00-2D-Drawing.pdfCmdRob-M170-D-XXX-BF-C00.stpCmdRob-M170-D-XXX-BS-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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