Rated Power V 24 Backdrivable Torque N·m 0.06

Peak Current A 7.3 Back-EMF Constant V/kRPM 5.88

Rated Torque N·m 1.3 Backlash arcmin 18

Basic Dynamic Load Rating CN 2810 Phase Inductance uH 465

Basic Static Load Rating C₀N 2760

Electrical Specifications

Maximum Continuous Power W 50 Noise Level dB (65 cm Distance from Motor) 50

Maximum Torque Density N·m/kg 20.5 Phase Resistance mΩ 978

Rated Speed RPM 370 Motor Constant N·m/√W 0.0568

Maximum Continuous Power W 50 Noise Level dB (65 cm Distance from Motor) 50

No-Load Speed RPM 435 Speed Constant RPM/V 170

Peak Current A 7.3 Back-EMF Constant V/kRPM 5.88

Peak Torque N·m 4.1 Rotor Inertia g·cm² 97.35

Basic Dynamic Load Rating CN 2810 Phase Inductance uH 465

Maximum Torque Density N·m/kg 20.5 Phase Resistance mΩ 978

Rated Current A 2.7 Torque Constant N·m/A 0.056

Rated Power V 24 Backdrivable Torque N·m 0.06

Rated Speed RPM 370 Motor Constant N·m/√W 0.0568

Rated Torque N·m 1.3 Backlash arcmin 18

Peak Torque N·m 4.1 Rotor Inertia g·cm² 97.35

No-Load Speed RPM 435 Speed Constant RPM/V 170

Rated Current A 2.7 Torque Constant N·m/A 0.056

Application Legged Robot, Exoskeleton, AGV Peak Torque (N·m) 29.2

Back Drive (N·m) 0.8 Mechanical Time Constant (ms) 1.7

Backlash (arcmin) 18 Maximum Torque Density (N·m/kg) 54

Basic Dynamic Load Rating (CN) 1890 Power Connector XT30PW(2+2)-M

Basic Static Load Rating (C₀N) 2140 Inner Loop Encoder Type Magnetic

Temperature Sensor NTC MF51B 103F3950 CAN Connector XT30PW(2+2)-M

Driving Way FOC Peak Current (ADC) 23.8

Rated Voltage (V) 48 Inner Loop Encoder Resolution 21bit

Basic Static Load Rating (C₀N) 2140 Inner Loop Encoder Type Magnetic

Insulation High-Voltage 1000V 5mA/2s KE (V/KRPM) 16.7

Insulation Level C KT (N·m/A) 0.159

Insulation Resistance 1000V 10MΩ Phase to Phase Resistance (Ω) 0.475

Insulation High-Voltage 1000V 5mA/2s KE (V/KRPM) 16.7

Insulation Level C KT (N·m/A) 0.159

Winding Type Delta KV (RPM/V) 60

Weight (g) 540

Backlash (arcmin) 18 Maximum Torque Density (N·m/kg) 54

Back Drive (N·m) 0.8 Mechanical Time Constant (ms) 1.7

Reduction Ratio 9:1 Motor Constant (N·m/√W) 0.23

Noise dB (65cm Away The Motor) 50 UART Connector A1257WR-S-3P

Operation Ambient Temperature -20~50℃ No-Load Speed (RPM) 320

Rated Current (ADC) 6.25 Number of Encoder 2

Number Of Slots 36 Phase to Phase Inductance (mH) 0.408

Operation Ambient Temperature -20~50℃ No-Load Speed (RPM) 320

Rated Speed (RPM) 260 Outer Loop Encoder Resolution 21bit

Rated Torque (N·m) 8.5 Outer Loop Encoder Type Magnetic

Driving Way FOC Peak Current (ADC) 23.8

Application Legged Robot, Exoskeleton, AGV Peak Torque (N·m) 29.2

Number Of Slots 36 Phase to Phase Inductance (mH) 0.408

Insulation Resistance 1000V 10MΩ Phase to Phase Resistance (Ω) 0.475

Pole Pairs 21 Rotor Inertia (gcm²) 866.307

Basic Dynamic Load Rating (CN) 1890 Power Connector XT30PW(2+2)-M

Rated Current (ADC) 6.25 Number of Encoder 2

Rated Speed (RPM) 260 Outer Loop Encoder Resolution 21bit

Rated Torque (N·m) 8.5 Outer Loop Encoder Type Magnetic

Rated Voltage (V) 48 Inner Loop Encoder Resolution 21bit

Reduction Ratio 9:1 Motor Constant (N·m/√W) 0.23

Pole Pairs 21 Rotor Inertia (gcm²) 866.307

Temperature Sensor NTC MF51B 103F3950 CAN Connector XT30PW(2+2)-M

Noise dB (65cm Away The Motor) 50 UART Connector A1257WR-S-3P

Winding Type Delta KV (RPM/V) 60

Rated Power V 24 Backdrivable Torque N·m 0.1

Peak Current A 5 Back-EMF Constant V/kRPM 13.33

Rated Torque N·m 2.5 Backlash arcmin 18

Basic Dynamic Load Rating CN 2810 Phase Inductance uH 1330

Basic Static Load Rating C₀N 2760

Electrical Specifications

Maximum Continuous Power W 39 Noise Level dB (65 cm Distance from Motor) 50

Maximum Torque Density N·m/kg 26.9 Phase Resistance mΩ 2200

Rated Speed RPM 120 Motor Constant N·m/√W 0.0858

Maximum Continuous Power W 39 Noise Level dB (65 cm Distance from Motor) 50

No-Load Speed RPM 180 Speed Constant RPM/V 75

Peak Current A 5 Back-EMF Constant V/kRPM 13.33

Peak Torque N·m 7 Rotor Inertia g·cm² 157.33

Basic Dynamic Load Rating CN 2810 Phase Inductance uH 1330

Maximum Torque Density N·m/kg 26.9 Phase Resistance mΩ 2200

Rated Current A 1.9 Torque Constant N·m/A 0.127

Rated Power V 24 Backdrivable Torque N·m 0.1

Rated Speed RPM 120 Motor Constant N·m/√W 0.0858

Rated Torque N·m 2.5 Backlash arcmin 18

Peak Torque N·m 7 Rotor Inertia g·cm² 157.33

No-Load Speed RPM 180 Speed Constant RPM/V 75

Rated Current A 1.9 Torque Constant N·m/A 0.127

Application Foot Robots, Exoskeleton Robots, AGV Rated Voltage (v) 48

Control Method FOC No-load speed (rpm) 320

Outer Ring Encoder Resolution 15bit Electrical Time Constant (ms) 0.93

Inner Ring Encoder Resolution 21bit Motor constant(Nm/√W) 0.32

Inner Ring Encoder Type Magnetic Rotor Inertia (gcm²) 1002

Insulation Level C Rated Current (ADC) 10.7

Insulation Resistance 1000V 10MΩ Peak Current (ADC) 31.9

Insulation Voltage Withstand 1000V 5mA/2s Peak Torque (Nm) 53

Number of Slots 36 KE V/krpm 16.7

Reduction Ratio 9∶1 KT (Nm/A) 0.16

Pole Pairs 21 KV (rpm/V) 60

Number of Encoder 2 Motor Weight (g) 940

Maximum Torque Density(Nm/kg) 56.4 Phase to phase Inductance μH 213

Outer Ring Encoder Type Magnetic Mechanical Time Constant (ms) 0.5

Inner Ring Encoder Resolution 21bit Motor constant(Nm/√W) 0.32

Control Method FOC No-load speed (rpm) 320

Number of Encoder 2 Motor Weight (g) 940

Number of Slots 36 KE V/krpm 16.7

Outer Ring Encoder Resolution 15bit Electrical Time Constant (ms) 0.93

Outer Ring Encoder Type Magnetic Mechanical Time Constant (ms) 0.5

Insulation Resistance 1000V 10MΩ Peak Current (ADC) 31.9

Insulation Voltage Withstand 1000V 5mA/2s Peak Torque (Nm) 53

Maximum Torque Density(Nm/kg) 56.4 Phase to phase Inductance μH 213

Temperature Sensor NTC MF51B 103F3950 Phase to phase resistance mΩ 248

Pole Pairs 21 KV (rpm/V) 60

Insulation Level C Rated Current (ADC) 10.7

Winding Type star Rated Speed (rpm) 235

Temperature Range -20~50℃ Rated Torque (Nm) 18

Application Foot Robots, Exoskeleton Robots, AGV Rated Voltage (v) 48

Reduction Ratio 9∶1 KT (Nm/A) 0.16

Inner Ring Encoder Type Magnetic Rotor Inertia (gcm²) 1002

Temperature Range -20~50℃ Rated Torque (Nm) 18

Temperature Sensor NTC MF51B 103F3950 Phase to phase resistance mΩ 248

Winding Type star Rated Speed (rpm) 235

Application Legged Robot,Exoskeleton,AGV Peak torque (Nm) 72

Back drive (Nm) 1.4 Mechanical Time Constant (ms) 2.39

Backlash (arcmin) 15 Maximum Torque Density(Nm/kg) 96

Basic dynamic load rating Cr(N) 2000 Inner loop encoder type Magnetic MT6835

Basic static load rating Cor(N) 2520 Inner ring encoder resolution 21bit

Temperature sensor NTC MF51B 103F3950 CAN connector A1257WR-S-3P

Driving way FOC Peak current (ADC) 17

Basic dynamic load rating Cr(N) 2000 Inner loop encoder type Magnetic MT6835

Basic static load rating Cor(N) 2520 Inner ring encoder resolution 21bit

Insulation High-voltage AC 500V5mA/2s KE (V/krpm) 12.5

Insulation Level C KT (Nm/A) 0.12

Insulation resistance DC 500V 10MΩ Phase to phase resistance (mΩ) 600

Insulation High-voltage AC 500V5mA/2s KE (V/krpm) 12.5

Insulation Level C KT (Nm/A) 0.12

Winding Type Star KV (rpm/V) 80

Rated current (ADC) 4.5 Weight (g) 750

Backlash (arcmin) 15 Maximum Torque Density(Nm/kg) 96

Back drive (Nm) 1.4 Mechanical Time Constant (ms) 2.39

Reduction Ratio 39:1 Motor constant(Nm/√W) 0.15

Noise dB away the motor 65cm UART connector XT30PW-M

Operation ambient temperature -20℃~50℃ No-load speed (rpm) 98

Rated speed (rpm) 70 Number of encoder 2

Number of Slots 24 Phase to phase Inductance (μH) 670

Operation ambient temperature -20℃~50℃ No-load speed (rpm) 98

Rated torque (Nm) 24 Outer ring encoder resolution 21bit

Rated voltage (V) 48 Outer ring encoder type Magnetic MT6835

Driving way FOC Peak current (ADC) 17

Application Legged Robot,Exoskeleton,AGV Peak torque (Nm) 72

Number of Slots 24 Phase to phase Inductance (μH) 670

Insulation resistance DC 500V 10MΩ Phase to phase resistance (mΩ) 600

Pole Pairs 14 Rotor Inertia (gcm²) 305

Rated current (ADC) 4.5 Weight (g) 750

Rated speed (rpm) 70 Number of encoder 2

Rated torque (Nm) 24 Outer ring encoder resolution 21bit

Rated voltage (V) 48 Outer ring encoder type Magnetic MT6835

Reduction Ratio 39:1 Motor constant(Nm/√W) 0.15

Pole Pairs 14 Rotor Inertia (gcm²) 305

Temperature sensor NTC MF51B 103F3950 CAN connector A1257WR-S-3P

Noise dB away the motor 65cm UART connector XT30PW-M

Winding Type Star KV (rpm/V) 80

Application Foot Robots, Exoskeleton Robots, AGV Rated Voltage (v) 24/48

Back-drive Torque (Nm) 0.2 Phase to phase Resistance mΩ 595

Control Method FOC No-load speed (rpm) 320/640

Electrical Time Constant (ms) 0.69 Phase to phase Inductance μH 676

Inner Ring Encoder Resolution 21bit

Inner Ring Encoder Type Magnetic Mechanical Time Constant (ms) 0.81

Insulation Level C Rated Current (ADC) 3.8

Insulation Resistance 500V 10MΩ Peak Torque (Nm) 9

Insulation Voltage Withstand 500V 5mA/2s Rated Power (W) 60/125

Temperature Sensor NTC MF51B 103F3950 KE V/krpm 12.5

Number of Slots 24 KT (Nm/A) 0.135

Reduction Ratio 6∶1 KV (rpm/V) 80

Motor Weight (g) 380 Rotor Inertia (gcm²) 243.5

Maximum Torque Density(Nm/kg) 23.68 Motor constant(Nm/√W) 0.15

Inner Ring Encoder Type Magnetic Mechanical Time Constant (ms) 0.81

Maximum Torque Density(Nm/kg) 23.68 Motor constant(Nm/√W) 0.15

Control Method FOC No-load speed (rpm) 320/640

Number of Slots 24 KT (Nm/A) 0.135

Pole Pairs 14 Peak Current (ADC) 10.3/11.2

Insulation Resistance 500V 10MΩ Peak Torque (Nm) 9

Electrical Time Constant (ms) 0.69 Phase to phase Inductance μH 676

Back-drive Torque (Nm) 0.2 Phase to phase Resistance mΩ 595

Pole Pairs 14 Peak Current (ADC) 10.3/11.2

Insulation Level C Rated Current (ADC) 3.8

Insulation Voltage Withstand 500V 5mA/2s Rated Power (W) 60/125

Winding Type star Rated Speed (rpm) 233/490

Temperature Range -20~50℃ Rated Torque (Nm) 3

Application Foot Robots, Exoskeleton Robots, AGV Rated Voltage (v) 24/48

Reduction Ratio 6∶1 KV (rpm/V) 80

Motor Weight (g) 380 Rotor Inertia (gcm²) 243.5

Temperature Range -20~50℃ Rated Torque (Nm) 3

Temperature Sensor NTC MF51B 103F3950 KE V/krpm 12.5

Winding Type star Rated Speed (rpm) 233/490

Rated Power V 24 Backdrivable Torque N·m 0.8

Peak Current A 6.5 Back-EMF Constant V/kRPM 12.5

Rated Torque N·m 8 Backlash arcmin 12

Basic Dynamic Load Rating CN 2810 Phase Inductance uH 1100

Basic Static Load Rating C₀N 2760

Electrical Specifications

Maximum Continuous Power W 33.5 Noise Level dB (65 cm Distance from Motor) 50

Maximum Torque Density N·m/kg 68.8 Phase Resistance mΩ 1800

Rated Speed RPM 40 Motor Constant N·m/√W 0.15

Maximum Continuous Power W 33.5 Noise Level dB (65 cm Distance from Motor) 50

No-Load Speed RPM 52 Speed Constant RPM/V 80

Peak Current A 6.5 Back-EMF Constant V/kRPM 12.5

Peak Torque N·m 24 Rotor Inertia g·cm² 181.9

Basic Dynamic Load Rating CN 2810 Phase Inductance uH 1100

Maximum Torque Density N·m/kg 68.8 Phase Resistance mΩ 1800

Rated Current A 2 Torque Constant N·m/A 0.11

Rated Power V 24 Backdrivable Torque N·m 0.8

Rated Speed RPM 40 Motor Constant N·m/√W 0.15

Rated Torque N·m 8 Backlash arcmin 12

Peak Torque N·m 24 Rotor Inertia g·cm² 181.9

No-Load Speed RPM 52 Speed Constant RPM/V 80

Rated Current A 2 Torque Constant N·m/A 0.11

Application Legged Robot,Exoskeleton,AGV Peak torque (Nm) 22

Back drive (Nm) 0.51 Mechanical Time Constant (ms) 0.725

Backlash (arcmin) 15 Maximum Torque Density(Nm/kg) 44.9

Basic dynamic load rating Cr(N) 2760 Power connector XT30PW-M

Basic static load rating Cor(N) 2810 Inner loop encoder type Magnetic

Temperature sensor NTC MF51B 103F3950 CAN connector /

Driving way FOC Peak current (ADC) 28

Basic static load rating Cor(N) 2810 Inner loop encoder type Magnetic

Rated voltage (V) 48 Inner ring encoder resolution 16bit

Insulation High-voltage 1000V 5mA/2s KE (V/krpm) 10

Insulation Level C KT (Nm/A) 0.095

Insulation resistance 1000V 10MΩ Phase to phase resistance (mΩ) 160

Insulation High-voltage 1000V 5mA/2s KE (V/krpm) 10

Insulation Level C KT (Nm/A) 0.095

Winding Type Delta KV (rpm/V) 100

Weight (g) 490

Backlash (arcmin) 15 Maximum Torque Density(Nm/kg) 44.9

Back drive (Nm) 0.51 Mechanical Time Constant (ms) 0.725

Reduction Ratio 9:1 Motor constant(Nm/√W) 0.2387

Noise dB (65CM away the motor) 60 UART connector A1257WR-S-3P

Operation ambient temperature -20℃~50℃ No-load speed (rpm) 570

Rated current (ADC) 12 Number of encoder 1

Number of Slots 36 Phase to phase Inductance (μH) 116

Operation ambient temperature -20℃~50℃ No-load speed (rpm) 570

Rated speed (rpm) 390 Outer ring encoder resolution /

Rated torque (Nm) 9 Outer ring encoder type /

Driving way FOC Peak current (ADC) 28

Application Legged Robot,Exoskeleton,AGV Peak torque (Nm) 22

Number of Slots 36 Phase to phase Inductance (μH) 116

Insulation resistance 1000V 10MΩ Phase to phase resistance (mΩ) 160

Pole Pairs 21 Rotor Inertia (gcm²) 1118.3238

Basic dynamic load rating Cr(N) 2760 Power connector XT30PW-M

Rated current (ADC) 12 Number of encoder 1

Rated speed (rpm) 390 Outer ring encoder resolution /

Rated torque (Nm) 9 Outer ring encoder type /

Rated voltage (V) 48 Inner ring encoder resolution 16bit

Reduction Ratio 9:1 Motor constant(Nm/√W) 0.2387

Pole Pairs 21 Rotor Inertia (gcm²) 1118.3238

Temperature sensor NTC MF51B 103F3950 CAN connector /

Noise dB (65CM away the motor) 60 UART connector A1257WR-S-3P

Winding Type Delta KV (rpm/V) 100