Special joint actuator series for robot axes X8 to X15, covering compact to high-torque requirements. The family includes 24 to 72 V models with rated torque from 8 to 145 Nm and peak torque from 32 to 450 Nm, supporting precise robotic motion with encoder feedback and industrial communication interfaces.
| – |
|---|
| Parameter | Unit | X8-32 | X8-120 | X12-320 | X15-450 |
|---|---|---|---|---|---|
| Gear Ratio | 9 | 19.612 | 20 | 20.25 | |
| Peak Phase Current | A | 30 | 43.8 | 100 | 69.2 |
| Efficiency | % | 82 | 79 | 75 | 82.4 |
| Motor Back-EMF Constant | Vdc/Krpm | 10.9 | 19.2 | 17.9 | 29.9 |
| Module Torque Constant | Nm/A | 1.3 | 2.4 | 3.3 | 5.8 |
| Motor Phase Resistance | Ohm | 0.13 | 0.18 | 0.12 | 0.08 |
| Motor Phase Inductance | mH | 0.081 | 0.31 | 0.05 | 0.14 |
| Pole Pair | 21 | 10 | 20 | 20 | |
| 3 Phase Connection | △ | Y | Y | Y | |
| Back Drive Torque | Nm | 0.8 | 3.21 | 3.8 | 4 |
| Backlash | Arcmin | 8 | 10 | 10 | 10 |
| Input Voltage | V | 24 | 48 | 48 | 72 |
| Output Bearing Type | Deep Groove Ball Bearings | Crossed Roller Bearings | Crossed Roller Bearings | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 0.6 | 4 | 4.5 | 5.4 |
| Axial Load Compressive Load | KN | 0.6 | 1 | 4.5 | 5.4 |
| Radial Load | KN | 2 | 4.5 | 5 | 6 |
| Inertia | Kg⋅cm² | 1.43 | 1.5 | 12.9 | 31.6 |
| Encoder Type and Interface | Single Encoder ABS-18BIT | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | |
| Control Accuracy | Degree | <0.01 | <0.01 | <0.01 | <0.01 |
| Communication | RS485 | EtherCAT / CAN BUS | EtherCAT / CAN BUS | 485 / EtherCAT / CAN BUS | |
| Weight | kg | 0.55 | 1.40 | 2.4 | 3.50 |
| Insulation Grade | F | F | F | F | |
| No Load Speed | RPM | 277 | 158 | 125 | 108 |
| No Load Input Current | A | 0.9 | 1.6 | 2.7 | 3.5 |
| Rated Speed | RPM | 244 | 127 | 100 | 98 |
| Rated Torque | Nm | 8 | 43 | 85 | 145 |
| Rated Output Power | W | 204 | 574 | 900 | 1480 |
| Rated Phase Current | A | 6.2 | 17.6 | 30 | 25 |
| Peak Torque | Nm | 32 | 120 | 320 | 450 |
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 | X8-32 |
|---|---|---|
| Gear Ratio | 9 | |
| Peak Phase Current | A | 30 |
| Efficiency | % | 82 |
| Motor Back-EMF Constant | Vdc/Krpm | 10.9 |
| Module Torque Constant | Nm/A | 1.3 |
| Motor Phase Resistance | Ohm | 0.13 |
| Motor Phase Inductance | mH | 0.081 |
| Pole Pair | 21 | |
| 3 Phase Connection | △ | |
| Back Drive Torque | Nm | 0.8 |
| Backlash | Arcmin | 8 |
| Input Voltage | V | 24 |
| Output Bearing Type | Deep Groove Ball Bearings | |
| Axial Load Tensile Load | KN | 0.6 |
| Axial Load Compressive Load | KN | 0.6 |
| Radial Load | KN | 2 |
| Inertia | Kg⋅cm² | 1.43 |
| Encoder Type and Interface | Single Encoder ABS-18BIT | |
| Control Accuracy | Degree | <0.01 |
| Communication | RS485 | |
| Weight | kg | 0.55 |
| Insulation Grade | F | |
| No Load Speed | RPM | 277 |
| No Load Input Current | A | 0.9 |
| Rated Speed | RPM | 244 |
| Rated Torque | Nm | 8 |
| Rated Output Power | W | 204 |
| Rated Phase Current | A | 6.2 |
| Peak Torque | Nm | 32 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 15.6 Nm | 6 K | 10 s | 18.4 A |
| 18 Nm | 11 K | 8 s | 21.2 A |
| 24 Nm | 36 K | 5 s | 29 A |
| 30 Nm | 54 K | 3 s | 38.2 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 | X8-120 |
|---|---|---|
| Gear Ratio | 19.612 | |
| Peak Phase Current | A | 43.8 |
| Efficiency | % | 79 |
| Motor Back-EMF Constant | Vdc/Krpm | 19.2 |
| Module Torque Constant | Nm/A | 2.4 |
| Motor Phase Resistance | Ohm | 0.18 |
| Motor Phase Inductance | mH | 0.31 |
| Pole Pair | 10 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 3.21 |
| Backlash | Arcmin | 10 |
| Input Voltage | V | 48 |
| Output Bearing Type | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 4 |
| Axial Load Compressive Load | KN | 1 |
| Radial Load | KN | 4.5 |
| Inertia | Kg⋅cm² | 1.5 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | EtherCAT / CAN BUS | |
| Weight | kg | 1.40 |
| Insulation Grade | F | |
| No Load Speed | RPM | 158 |
| No Load Input Current | A | 1.6 |
| Rated Speed | RPM | 127 |
| Rated Torque | Nm | 43 |
| Rated Output Power | W | 574 |
| Rated Phase Current | A | 17.6 |
| Peak Torque | Nm | 120 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 64.5 Nm | 7 K | 15 s | 23.3 A |
| 86 Nm | 10 K | 10 s | 31.1 A |
| 107.5 Nm | 26 K | 8 s | 38.9 A |
| 129 Nm | 30 K | 5 s | 43.8 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 | 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 |
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 | X15-450 |
|---|---|---|
| Gear Ratio | 20.25 | |
| Peak Phase Current | A | 69.2 |
| Efficiency | % | 82.4 |
| Motor Back-EMF Constant | Vdc/Krpm | 29.9 |
| Module Torque Constant | Nm/A | 5.8 |
| Motor Phase Resistance | Ohm | 0.08 |
| Motor Phase Inductance | mH | 0.14 |
| Pole Pair | 20 | |
| 3 Phase Connection | Y | |
| Back Drive Torque | Nm | 4 |
| Backlash | Arcmin | 10 |
| Input Voltage | V | 72 |
| Output Bearing Type | Crossed Roller Bearings | |
| Axial Load Tensile Load | KN | 5.4 |
| Axial Load Compressive Load | KN | 5.4 |
| Radial Load | KN | 6 |
| Inertia | Kg⋅cm² | 31.6 |
| Encoder Type and Interface | Dual Encoder ABS-17BIT(Input) / 17BIT(Output) | |
| Control Accuracy | Degree | <0.01 |
| Communication | 485 / EtherCAT / CAN BUS | |
| Weight | kg | 3.50 |
| Insulation Grade | F | |
| No Load Speed | RPM | 108 |
| No Load Input Current | A | 3.5 |
| Rated Speed | RPM | 98 |
| Rated Torque | Nm | 145 |
| Rated Output Power | W | 1480 |
| Rated Phase Current | A | 25 |
| Peak Torque | Nm | 450 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 217.5 Nm | 15 K | 15 s | 31.1 A |
| 290 Nm | 15 K | 10 s | 41 A |
| 362.5 Nm | 20 K | 8 s | 51.6 A |
| 435 Nm | 25 K | 5 s | 67.2 A |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
