| CE-HM-R102 Module Technical Specifications |
| No. |
Module |
Configuration |
Output Speed(RPM) |
Rated Torque(Nm) |
Peak Torque(Nm) |
Backlash(Arcsec) |
| 1 |
Mechanical |
51:1 |
60 |
46 |
115 |
15 |
| 2 |
101:1 |
30 |
92 |
230 |
15 |
| 3 |
161:1 |
18 |
147 |
350 |
15 |
| 4 |
Electrical Characteristics |
Rated Voltage(V) |
Rated Power(W) |
Rated Speed(RPM) |
Rated Current(A) |
Peak Current(A) |
| 5 |
48 |
440 |
3000 |
10.5 |
28 |
| 6 |
Encoder |
Dual encoder, absolute resolution per revolution: 19 bits per revolution |
| 7 |
Driver |
Interface: EtherCAT/CAN; Current loop: 50 kHz; Speed loop: 10 kHz |
| 8 |
Overall dimensions |
R102*73mm |
| 9 |
Total weight |
2.0kg |
| 10 |
Typical applications |
Shoulder, elbow, knee and lumbar joints |
