ZDFH0614

Model

50C

42D

25D

32 Harmonic

20 Harmonic

Gearbox

Reducer reduction ratio

32.54

105

81

50

50

/

Comprehensive reduction ratio

97.62

104

80

102

102

35.1

Rated output speed(r/min) 

15

15

15

40

25

/

Rated torque

490

412

245

76

34

/

Permissible torque for starting and stopping

1225

1029

612

216

74

/

Instantaneous maximum torque(N·m)

2450

2058

1225

382

127

/

Moment rigidity(N·m)

1764

1660

784

/

/

/

Instantaneous maximum torque(N·m)

3528

3320

1568

/

/

/

Joint

J1

J2

J3

J4

J5

J6

Motor model

130

130

80

60

40

40

Bated power(kW)

1.5

1.5

0.75

0.4

0.1

0.1

Rated voltage(V)

220

Rated current(A) 

7

7

5

2.6

0.85

0.85

Rated torque（N.m) 

4.77

4.77

2.38

1.27

0.31

0.31

(r/min) Rated speed

3000

3000

3000

3000

3000

3000

Maximum speed(r/min) 

3200

3200

4100

5000

5000

5400

(*10e-4kgm²) Rotor inertia

9

9

1.2

0.4

0.06

0.06

Line back electromotive force coefficient(V/Krpm)

48

48

36.2

33

25.2

25.2

Number of pole pairs

5

Encoder

17 bit multi-turn insulation value Tamagawa agreement