- 18561921984
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CE | RM | R70 | 100 | 11 | B | 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 | |
| R70 | 4-φ3.5 Depth 15 EQS M3 Depth 5 |
64 | 8-φ3.5 Depth 10 EQS M3 Depth 5 |
44 | 11 | 70 | 52 | 11 | 65 |
| Tolerance | – | – | – | – | – | 0 -0.03 |
0 -0.03 |
– | – |
| Weight | Without brakes: 0.76 kg With brakes: 0.84 kg (friction-type damper brake) |
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| Model | R70 | |||
| Gear Ratio | – | 50 | 80 | 100 |
| Rated torque at 2000 r/min | Nm | 7 | 10 | 10 |
| kgfm | 7 | 1.0 | 1.0 | |
| Permissible peak torque during start-up and shutdown | Nm | 23 | 30 | 36 |
| kgfm | 2.3 | 3.0 | 3.6 | |
| Maximum permissible torque for average load torque | Nm | 9 | 14 | 14 |
| kgfm | 0.9 | 1.4 | 1.4 | |
| Maximum instantaneous input torque | Nm | 46 | 61 | 70 |
| kgfm | 4.6 | 6.1 | 7.0 | |
| Maximum permissible input speed (grease lubrication) | r/min | 8000 | ||
| Permissible average input speed (grease lubrication) | r/min | 3500 | ||
| Maximum permissible output speed | RPM | 96 | 60 | 48 |
| Back clearance | Arc Sec | ≤30 | ≤25 | |
| Design life | Hour | 15000 | 12000 | |
| Model | R70 | ||
| Brake parameters | Static torque | Nm | ≥0.5 |
| Braking response time | ms | 100 | |
| Disengagement response time | ms | 50 | |
| Encoder parameters | Position resolution | bit | 19 |
| Speed resolution | bit | 20 | |
| Motor parameters | Rated power | W | 151 |
| Rated Speed | RPM | 4800 | |
| Rated Torque | Nm | 0.3 | |
| Peak Torque | Nm | 0.96 | |
| 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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