| Division | Stage | Gear ratio | 040 | 060 | 080 | 120 | 160 |
|---|
| Nominal Output Torque (Nm) | 1 | 3 | 20 | 57 | 148 | 272 | 484 |
|---|
| 4 | 18 | 51 | 143 | 295 | 549 |
| 5 | 19 | 54 | 160 | 332 | 634 |
| 6 | 18 | 50 | 151 | 311 | 592 |
| 7 | 17 | 48 | 145 | 305 | 562 |
| 8 | 16 | 44 | 132 | 279 | 527 |
| 9 | 14 | 42 | 123 | 254 | 483 |
| 10 | 14 | 42 | 121 | 262 | 500 |
| 2 | 15 | 20 | 57 | 148 | 272 | 484 |
| 20 | 18 | 51 | 143 | 295 | 549 |
| 25 | 19 | 54 | 160 | 332 | 634 |
| 30 | 18 | 50 | 151 | 311 | 592 |
| 35 | 17 | 48 | 145 | 305 | 562 |
| 40 | 16 | 44 | 132 | 279 | 527 |
| 45 | 14 | 42 | 123 | 254 | 483 |
| 50 | 19 | 54 | 160 | 332 | 634 |
| 60 | 18 | 50 | 151 | 311 | 592 |
| 70 | 17 | 48 | 145 | 305 | 562 |
| 80 | 16 | 44 | 132 | 279 | 527 |
| 90 | 14 | 42 | 123 | 254 | 483 |
| 100 | 14 | 42 | 121 | 262 | 500 |
| Emergency Stop Torque (Nm) | 1,2 | 3~100 | 3 times nominal output torque |
|---|
| Nominal Input Speed (rpm) | 1,2 | 3~100 | 5,000 | 5,000 | 4,000 | 4,000 | 3,000 |
|---|
| Max. Input Speed (rpm) | 1,2 | 3~100 | 10,000 | 10,000 | 8,000 | 8,000 | 6,000 |
|---|
| Torsional Rigidity (Nm/arcmin) | 1,2 | 3~100 | 3 | 7 | 14 | 26 | 55 |
|---|
| Max. Radial Load (N) | 1,2 | 3~100 | 750 | 1,280 | 3,200 | 6,800 | 9,300 |
|---|
| Max. Axial Load (N) | 1,2 | 3~200 | 390 | 690 | 1,600 | 3,400 | 4,500 |
|---|
| Backlash (Arcmin) | S | 1 | 3~10 | ≤ 7 | ≤ 7 | ≤ 7 | ≤ 7 | ≤ 7 |
|---|
| 2 | 15~100 | ≤ 9 | ≤ 9 | ≤ 9 | ≤ 9 | ≤ 9 |
| Service Life (Hrs) | 1,2 | 3~100 | 20,000 (10,000 under continuous operation) |
|---|
| Efficiency (%) | 1 | 3~10 | ≥ 97 |
|---|
| 2 | 15~100 | ≥ 94 |
| Weight (kg) | 1A | 3~10 | ≤ 0.6 | ≤ 1.3 | ≤ 3.8 | ≤ 7.6 | ≤ 15.0 |
|---|
| 2A | 15~100 | ≤ 0.8 | ≤ 1.8 | ≤ 5.0 | ≤ 10.3 | ≤ 19.6 |
| 2B | 15~100 | - | ≤ 1.6 | ≤ 4.7 | ≤ 9.6 | ≤ 18.0 |
| Operation Temp (℃) | 1,2 | 3~100 | -10 ~ 90 |
|---|
| Lubrication | 1,2 | 3~100 | Grease (VIGO Grease RE #0) |
|---|
| Degree of Gearbox Protection | 1,2 | 3~100 | IP65 |
|---|
| Noise (dB) | 1,2 | 3~100 | ≤ 52 | ≤ 54 | ≤ 56 | ≤ 59 | ≤ 52 |
|---|
| Inertia (㎏㎠) | 1A | 3 | 0.03 | 0.17 | 0.64 | 3.12 | 9.23 |
|---|
| 4 | 0.03 | 0.15 | 0.51 | 2.84 | 7.66 |
| 5 | 0.03 | 0.13 | 0.48 | 2.81 | 7.52 |
| 6 | 0.03 | 0.13 | 0.47 | 2.75 | 7.34 |
| 7 | 0.03 | 0.13 | 0.45 | 2.69 | 7.16 |
| 8 | 0.03 | 0.13 | 0.45 | 2.64 | 7.11 |
| 9 | 0.03 | 0.13 | 0.44 | 2.59 | 7.05 |
| 10 | 0.03 | 0.13 | 0.44 | 2.59 | 7.05 |
| 2B | 15~45 | 0.03 | 0.03 | 0.13 | 0.48 | 2.81 |
| 50~100 | 0.03 | 0.03 | 0.13 | 0.44 | 2.69 |
| 2A | 15~45 | - | 0.13 | 0.48 | 2.81 | 7.52 |
| 50~100 | - | 0.13 | 0.44 | 2.69 | 7.05 |
(1) Considering safety factors, nominal output torque is calculated.
(2) Max. output torque is equivalent to 60% of the emergency stop torque.
