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Planetary Drive Integrated Robotic Joint
| Parameter | Unit | X12-320 |
|---|---|---|
| Gear Ratio | 20 | |
| Peak Phase Current | A | 100 |
| Efficiency | % | 75 |
| Motor Back-EMF Constant | Vdc/Krpm | 17.9 |
| Module Torque Constant | Nm/A | 3.3 |
| Motor Phase Resistance | Ohm | 0.12 |
| Motor Phase Inductance | mH | 0.05 |
| Pole Pair | 20 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 3.8 |
| Backlash | Arcmin | 10 |
| Input Voltage | V | 48 |
| Output Bearing Type | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 4.5 |
| Axial Load Compressive Load | KN | 4.5 |
| Radial Load | KN | 5 |
| Inertia | Kg⋅cm² | 12.9 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | EtherCAT / CAN BUS | |
| Weight | kg | 2.4 |
| Insulation Grade | F | |
| No Load Speed | RPM | 125 |
| No Load Input Current | A | 2.7 |
| Rated Speed | RPM | 100 |
| Rated Torque | Nm | 85 |
| Rated Output Power | W | 900 |
| Rated Phase Current | A | 30 |
| Peak Torque | Nm | 320 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 150 Nm | 13 K | 10 s | 37.5 A |
| 200 Nm | 5 K | 8 s | 49.5 A |
| 250 Nm | 7 K | 7 s | 61.5 A |
| 300 Nm | 43 K | 3 s | 75.3 A |
Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.