CmdRob M90 Motor

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Application Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Model M90 M90 M90 M90 Reduction Ratio 51 81 101 12 1 Input Voltage 220 (±10%)V 220 (±10%)V 220 (±10%)V 220 (±10%)V Maximum Torque 127N.m 165N.m 191N.m 191N.m 12.96kgf.m 16.83kgf.m 19.49kgf.m 19.49kgf.m Average Load Torque 44N.m 61N.m 64N.m 64N.m 4.49kgf.m 6.22kgf.m 6.53kgf.m 6.53kgf.m Start-Stop Peak Torque 73N.m 96N.m 107N.m 113N.m 7.45kgf.m 9.79kgf.m 10.92kgf.m 11.53kgf.m Maximum Speed 118r/min 75r/min 60r/min 50r/min Rated Speed 59r/min 37r/min 30r/min 25r/min Motor Torque Constant 0.40N·m/A 0.40N·m/A 0.40N·m/A 0.40N·m/A 0.041kgf·m/A 0.041kgf·m/A 0.041kgf·m/A 0.041kgf·m/A Maximum Current 5.17A 4.28A 3.82A 3.37A Allowable Continuous Current 3.11A 2.72A 2.29A 1.91A Back EMF Constant 26.72V/krpm 26.72V/krpm 26.72V/krpm 26.72V/krpm Phase Resistance (20°C) 1.56Ω 1.56Ω 1.56Ω 1.56Ω Phase Inductance 3.67mH 3.67mH 3.67mH 3.67mH Moment of Inertia 116(kg·mm²) 116(kg·mm²) 116(kg·mm²) 116(kg·mm²) 116*10^-4(kgf·cm·s²) 116*10^-4(kgf·cm·s²) 116*10^-4(kgf·cm·s²) 116*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 1.9 KG 1.9 KG 1.9 KG 1.9 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 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-M90-D-XXX-BF-C00-2D-Drawing.pdfCmdRob-M90-D-XXX-BS-C00-2D-Drawing.pdfCmdRob-M90-D-XXX-BS-C00.stpCmdRob-M90-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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