Integrated geared servo actuators for robot joints, robotic axes, rotary axes, and compact servo mechanisms. The V4-Special X2-X6 family combines motor, gearbox, encoder feedback, and communication in one compact unit for precise motion control in limited installation space, with 24 to 48 V input, 2.5 to 20 Nm rated torque, and <0.01° control accuracy.
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| Parameter | Unit | X2-7 | X4-10 | X4-36 | X6-60 |
|---|---|---|---|---|---|
| Gear Ratio | 28.17 | 12.6 | 36 | 19.612 | |
| Peak Phase Current | A | 8.1 | 19.5 | 21.5 | 29.1 |
| Efficiency | % | 63 | 69.5 | 63.1 | 72.7 |
| Motor Back-EMF Constant | Vdc/Krpm | 4.3 | 6 | 6 | 16 |
| Module Torque Constant | Nm/A | 0.8 | 0.8 | 1.9 | 2.1 |
| Motor Phase Resistance | Ohm | 0.61 | 0.32 | 0.35 | 0.41 |
| Motor Phase Inductance | mH | 0.13 | 0.14 | 0.17 | 0.51 |
| Pole Pair | 13 | 13 | 13 | 10 | |
| 3 Phase Connection | Y | Y | Y | Y | |
| Back Drive Torque | Nm | 0.4 | 0.8 | 1.14 | 1.6 |
| Backlash | Arcmin | ≤ 15 | 10 | 10 | 10 |
| Input Voltage | V | 24 | 24 | 24 | 48 |
| Output Bearing Type | Deep Groove Ball Bearings | Deep Groove Ball Bearings | Crossed Roller Bearings | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 0.25 | 1.2 | 1.3 | 1.8 |
| Axial Load Compressive Load | KN | 0.25 | 1.2 | 1.3 | 0.8 |
| Radial Load | KN | 1 | 1.2 | 1.5 | 2 |
| Inertia | Kg⋅cm² | 0.17 | 0.25 | 0.3 | 0.66 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 18BIT(Output) | Dual Encoder ABS-17BIT(Input) / 18BIT(Output) | Dual Encoder ABS-17BIT(Input) / 18BIT(Output) | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | |
| Control Accuracy | Degree | <0.01 | <0.01 | <0.01 | <0.01 |
| Communication | EtherCAT & CAN BUS | EtherCAT & CAN BUS | EtherCAT / CAN BUS | EtherCAT / CAN BUS | |
| Weight | kg | 0.26 | 0.33 | 0.36 | 0.82 |
| Insulation Grade | F | F | F | F | |
| No Load Speed | RPM | 178 | 317 | 111 | 176 |
| No Load Input Current | A | 1 | 1 | 0.9 | 0.9 |
| Rated Speed | RPM | 142 | 238 | 83 | 153 |
| Rated Torque | Nm | 2.5 | 4 | 10.5 | 20 |
| Rated Output Power | W | 37 | 100 | 100 | 320 |
| Rated Phase Current | A | 3 | 7.8 | 6.1 | 9.5 |
| Peak Torque | Nm | 7 | 10 | 34 | 60 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
| Parameter | Unit | X2-7 |
|---|---|---|
| Gear Ratio | 28.17 | |
| Peak Phase Current | A | 8.1 |
| Efficiency | % | 63 |
| Motor Back-EMF Constant | Vdc/Krpm | 4.3 |
| Module Torque Constant | Nm/A | 0.8 |
| Motor Phase Resistance | Ohm | 0.61 |
| Motor Phase Inductance | mH | 0.13 |
| Pole Pair | 13 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 0.4 |
| Backlash | Arcmin | ≤ 15 |
| Input Voltage | V | 24 |
| Output Bearing Type | Deep Groove Ball Bearings | |
| Axial Load Tensile Load | KN | 0.25 |
| Axial Load Compressive Load | KN | 0.25 |
| Radial Load | KN | 1 |
| Inertia | Kg⋅cm² | 0.17 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 18BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | EtherCAT & CAN BUS | |
| Weight | kg | 0.26 |
| Insulation Grade | F | |
| No Load Speed | RPM | 178 |
| No Load Input Current | A | 1 |
| Rated Speed | RPM | 142 |
| Rated Torque | Nm | 2.5 |
| Rated Output Power | W | 37 |
| Rated Phase Current | A | 3 |
| Peak Torque | Nm | 7 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 3.75 Nm | 20 K | 15 s | 4.3 A |
| 5 Nm | 31 K | 10 s | 5.7 A |
| 6.25 Nm | 48 K | 8 s | 7.4 A |
| 7.5 Nm | 59 K | 5 s | 8.6 A |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
| Parameter | Unit | X4-10 |
|---|---|---|
| Gear Ratio | 12.6 | |
| Peak Phase Current | A | 19.5 |
| Efficiency | % | 69.5 |
| Motor Back-EMF Constant | Vdc/Krpm | 6 |
| Module Torque Constant | Nm/A | 0.8 |
| Motor Phase Resistance | Ohm | 0.32 |
| Motor Phase Inductance | mH | 0.14 |
| Pole Pair | 13 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 0.8 |
| Backlash | Arcmin | 10 |
| Input Voltage | V | 24 |
| Output Bearing Type | Deep Groove Ball Bearings | |
| Axial Load Tensile Load | KN | 1.2 |
| Axial Load Compressive Load | KN | 1.2 |
| Radial Load | KN | 1.2 |
| Inertia | Kg⋅cm² | 0.25 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 18BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | EtherCAT & CAN BUS | |
| Weight | kg | 0.33 |
| Insulation Grade | F | |
| No Load Speed | RPM | 317 |
| No Load Input Current | A | 1 |
| Rated Speed | RPM | 238 |
| Rated Torque | Nm | 4 |
| Rated Output Power | W | 100 |
| Rated Phase Current | A | 7.8 |
| Peak Torque | Nm | 10 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 5.2 Nm | 41 K | 10 s | 7.8 A |
| 6 Nm | 16 K | 8 s | 9.1 A |
| 7.2 Nm | 26 K | 5 s | 11 A |
| 8 Nm | 30 K | 3 s | 12.1 A |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
| Parameter | Unit | X4-36 |
|---|---|---|
| Gear Ratio | 36 | |
| Peak Phase Current | A | 21.5 |
| Efficiency | % | 63.1 |
| Motor Back-EMF Constant | Vdc/Krpm | 6 |
| Module Torque Constant | Nm/A | 1.9 |
| Motor Phase Resistance | Ohm | 0.35 |
| Motor Phase Inductance | mH | 0.17 |
| Pole Pair | 13 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 1.14 |
| Backlash | Arcmin | 10 |
| Input Voltage | V | 24 |
| Output Bearing Type | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 1.3 |
| Axial Load Compressive Load | KN | 1.3 |
| Radial Load | KN | 1.5 |
| Inertia | Kg⋅cm² | 0.3 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 18BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | EtherCAT / CAN BUS | |
| Weight | kg | 0.36 |
| Insulation Grade | F | |
| No Load Speed | RPM | 111 |
| No Load Input Current | A | 0.9 |
| Rated Speed | RPM | 83 |
| Rated Torque | Nm | 10.5 |
| Rated Output Power | W | 100 |
| Rated Phase Current | A | 6.1 |
| Peak Torque | Nm | 34 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 17.25 Nm | 30 K | 15 s | 9.2 A |
| 23 Nm | 58 K | 10 s | 12.7 A |
| 28.75 Nm | 41 K | 5 s | 16.3 A |
| 34.5 Nm | 50 K | 3 s | 21.2 A |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
| Parameter | Unit | X6-60 |
|---|---|---|
| Gear Ratio | 19.612 | |
| Peak Phase Current | A | 29.1 |
| Efficiency | % | 72.7 |
| Motor Back-EMF Constant | Vdc/Krpm | 16 |
| Module Torque Constant | Nm/A | 2.1 |
| Motor Phase Resistance | Ohm | 0.41 |
| Motor Phase Inductance | mH | 0.51 |
| Pole Pair | 10 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 1.6 |
| Backlash | Arcmin | 10 |
| Input Voltage | V | 48 |
| Output Bearing Type | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 1.8 |
| Axial Load Compressive Load | KN | 0.8 |
| Radial Load | KN | 2 |
| Inertia | Kg⋅cm² | 0.66 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | EtherCAT / CAN BUS | |
| Weight | kg | 0.82 |
| Insulation Grade | F | |
| No Load Speed | RPM | 176 |
| No Load Input Current | A | 0.9 |
| Rated Speed | RPM | 153 |
| Rated Torque | Nm | 20 |
| Rated Output Power | W | 320 |
| Rated Phase Current | A | 9.5 |
| Peak Torque | Nm | 60 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 30 Nm | 17 K | 15 s | 12.7 A |
| 40 Nm | 29 K | 10 s | 17.7 A |
| 50 Nm | 37 K | 8 s | 22.6 A |
| 60 Nm | 24 K | 5 s | 28.3 A |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
