- 18561921984
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CE | RM | R52 | 100 | 08 | N | S | C | N |
| Integrated Products | Joint Modules | Module Specifications | Reduction Ratio | Hollow Shaft Diameter | With or without Brake | Encoder Type | Communication Method | Torque Sensor |
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Product Dimensions Specification Table – Units：mm |
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| A | B | C | D | E | F | G | H | I | |
| R52 | 12-φ2.2 Deep9.0 EQS M2Deep5 |
47 | 34 | 8-M2 Deep8 EQS |
8 | 52 | 42 | 10 | 61 |
| Tolerance | – | – | – | – | – | 0 -0.03 |
0 -0.03 |
– | – |
| Weight | Without brakes: 0.39 kg (brakes cannot be fitted to the R52 series) | ||||||||
| Model | R52 | |||
| Gear ratio | – | 30 | 50 | 100 |
| Rated torque at 2000 r/min | Nm | 2.2 | 3.5 | 5.0 |
| kgfm | 0.2 | 0.3 | 0.5 | |
| Permissible peak torque during start-up and stopping | Nm | 4.5 | 8.3 | 11 |
| kgfm | 0.4 | 0.8 | 1.1 | |
| Maximum permissible torque under average load | Nm | 3.4 | 5.5 | 8.9 |
| kgfm | 0.3 | 0.5 | 0.8 | |
| Maximum permissible instantaneous input torque | Nm | 8.5 | 17 | 25 |
| kgfm | 0.8 | 1.7 | 2.5 | |
| Maximum permissible input speed (grease lubrication) | r/min | 5000 | ||
| Permissible average input speed (grease lubrication) | r/min | 3000 | ||
| Maximum permissible output speed | RPM | 150 | 90 | 30 |
| Backlash | Arc Sec | ≤30 | ≤25 | |
| Design life | Hour | 15000 | 12000 | |
| Model | R52 | ||
| Brake parameters | Static torque | Nm | – |
| Brake response time | ms | – | |
| Disengagement response time | ms | – | |
| Encoder parameters | Position resolution | bit | 19 |
| Speed resolution | bit | 20 | |
| Motor parameters | Rated power | W | 78.5 |
| Rated Speed | RPM | 5000 | |
| Rated Torque | Nm | 0.15 | |
| Peak Torque | Nm | 0.45 | |
| Driver Parameters | Communication Interface | – | EtherCAT/CANOpen |
| Control Bandwidth | – | Current Loop: 50 kHz Speed Loop: 10 kHz |
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| Protection Functions | – | Reverse connection, overtemperature, short circuit Overvoltage, undervoltage, self-test |
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