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| Parameter Classification | Parameters | unit | Specifications |
|---|---|---|---|
| External dimensions | Joint diameter | mm | 110 |
| Joint length | mm | 122 | |
| Hollow hole diameter | mm | 20 | |
| Joint weight | kg | 2.9 | |
| Gearbox parameters | Reduction ratio* | - | 101 |
| Gearbox backlash | arcsec | ≤20 | |
| Transmission accuracy | arcmin | ＜1 | |
| Average lifespan | h | 20000 | |
| Output capability | Start-stop allowable torque | N·m | 204 |
| Average load torque | N·m | 140 | |
| Maximum instantaneous torque | N·m | 369 | |
| Rated speed | rpm | 34 | |
| Maximum speed | rpm | 42 | |
| Repeatability | arcsec | ＜60 | |
| Absolute positioning accuracy | arcsec | ＜300 | |
| Servo System | Motor power | IN | 680 |
| Rated voltage | VDC | 48 | |
| Rated current | A(rms) | 18 | |
| Peak current | A(rms) | 37 | |
| Encoder: | Single encoder* | ● (Support) | |
| Dual encoder* | - (Not supported) | ||
| Communication Protocol: | EtherCAT | ● (Support) | |
| CANopen | ○ (Optional) | ||
| other | Brake: | - | ● (Support) |
| Torque sensor*: | - | ○ (Optional) | |
| IP Class: | - | IP40 | |
| Operating temperature | ℃ | 0~40℃ (-40~60℃ optional) | |
| Storage temperature | ℃ | -40~80℃ | |
| Ambient humidity | ℃ | 90% relative humidity (non-condensing) | |
| Remark |
*Reduction ratios are configurable; please consult for specific parameters. *Single encoder is a multi-turn absolute encoder. *Optional dual encoders available; length and dimensions may vary. Please inquire for details. *Optional torque sensor available; please inquire for details regarding length variations. |
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