| Division | Stage | Gear ratio | 045 | 060 | 090 | 115 | 142 | 180 |
|---|
| Nominal Output Torque (Nm) | 1 | 3 | 20 | 57 | 148 | 272 | 484 | 897 |
|---|
| 4 | 18 | 51 | 143 | 295 | 549 | 1,060 |
| 5 | 19 | 54 | 160 | 332 | 634 | 1,195 |
| 6 | 18 | 50 | 151 | 311 | 592 | 1,109 |
| 7 | 17 | 48 | 145 | 305 | 562 | 1,104 |
| 8 | 16 | 44 | 132 | 279 | 527 | 1,035 |
| 9 | 14 | 42 | 123 | 254 | 483 | 947 |
| 10 | 14 | 42 | 121 | 262 | 500 | 980 |
| 14 | - | 44 | 145 | 305 | 562 | 1,104 |
| 15 | 14 | - | - | - | - | - |
| 20 | 14 | 42 | 121 | 262 | 500 | 980 |
| 2 | 25 | 19 | 54 | 160 | 332 | 634 | 1,195 |
| 30 | 18 | 50 | 151 | 311 | 592 | 1,109 |
| 35 | 17 | 48 | 145 | 305 | 562 | 1,104 |
| 40 | 16 | 44 | 132 | 279 | 527 | 1,035 |
| 45 | 14 | 42 | 123 | 254 | 483 | 947 |
| 50 | 19 | 54 | 160 | 332 | 634 | 1,195 |
| 60 | 18 | 50 | 151 | 311 | 592 | 1,109 |
| 70 | 17 | 48 | 145 | 305 | 562 | 1,104 |
| 80 | 16 | 44 | 132 | 279 | 527 | 1,035 |
| 90 | 14 | 42 | 123 | 254 | 483 | 947 |
| 100 | 14 | 42 | 121 | 262 | 500 | 980 |
| 120 | - | - | 151 | 311 | 592 | 1,109 |
| 140 | - | - | 145 | 305 | 562 | 1,104 |
| 160 | - | - | 132 | 279 | 527 | 1,035 |
| 180 | - | - | 123 | 254 | 483 | 947 |
| 200 | - | - | 121 | 262 | 500 | 980 |
| Emergency Stop Torque (Nm) | - | - | 3 times nominal output torque |
|---|
| Nominal Input Speed (rpm) | - | - | 5,000 | 5,000 | 4,000 | 4,000 | 3,000 | 3,000 |
|---|
| Max. Input Speed (rpm) | - | - | 10,000 | 10,000 | 8,000 | 8,000 | 6,000 | 6,000 |
|---|
| Torsional Rigidity (Nm/Arcmin) | - | - | 3 | 7 | 14 | 26 | 55 | 143 |
|---|
| Max. Radial Load (N) | - | - | 750 | 1,280 | 3,200 | 6,800 | 9,300 | 15,100 |
|---|
| Max. Axial Load (N) | - | - | 390 | 690 | 1,600 | 3,400 | 4,500 | 7,500 |
|---|
| Backlash (Arcmin) | S | 1 | - | ≤ 8 | ≤ 8 | ≤ 8 | ≤ 8 | ≤ 8 | ≤ 8 |
|---|
| 2 | - | ≤ 11 | ≤ 11 | ≤ 11 | ≤ 11 | ≤ 11 | ≤ 11 |
| Service Life (Hrs) | - | - | 20,000 (10,000 under continuous operation) |
|---|
| Efficiency (%) | 1 | - | ≥ 95 |
|---|
| 2 | - | ≥ 92 |
| Weight (kg) | 1A | - | ≤ 0.9 | ≤ 1.5 | ≤ 6.0 | ≤ 12.0 | ≤ 24.0 | ≤ 51.0 |
|---|
| 2A | - | ≤ 1.2 | ≤ 2.0 | ≤ 7.5 | ≤ 13.5 | ≤ 26.0 | ≤ 54.0 |
| 2B | - | - | ≤ 1.9 | ≤ 7.3 | ≤ 12.8 | ≤ 25.0 | ≤ 53.0 |
| Operation Temp (℃) | 1,2 | - | -10 ~ 90 |
|---|
| Lubrication | - | - | Grease (VIGO Grease RE #0) |
|---|
| Degree of Gearbox Protection | - | - | IP65 |
|---|
| Noise (dB) | - | - | ≤ 58 | ≤ 60 | ≤ 63 | ≤ 66 | ≤ 69 | ≤ 72 |
|---|
| Inertia (㎏㎠) | 1A | 3~10 | 0.09 | 0.36 | 2.27 | 6.88 | 23.50 | 69.2 |
|---|
| 14,20 | - | 0.08 | 1.89 | 6.23 | 21.75 | 66.3 |
| 2B | 15,20 | - | - | - | - | - | - |
| 25~100 | - | 0.09 | 0.36 | 2.27 | 6.88 | 23.5 |
| 120~200 | - | - | 0.32 | 1.89 | 6.23 | 21.75 |
| 2A | 15~20 | 0.09 | - | - | - | - | - |
| 25~100 | 0.09 | 0.36 | 2.27 | 6.88 | 23.50 | 69.2 |
| 120~200 | - | - | 1.89 | 6.23 | 21.75 | 66.3 |
(1) Considering safety factors, nominal output torque is calculated.
(2) Max. output torque is equivalent to 60% of the emergency stop torque.
