X6-60 - Motor Characteristics
| Part Number | RMD-X6-P20-60 (-C or -E is optional) | |
|---|---|---|
| Gear Ratio | - | 19.612 |
| Input Voltage | V | 48 |
| No Load Speed | RPM | 176 |
| No Load Input Current | A | .9 |
| Rated Speed | RPM | 153 |
| Rated Torque | Nm | 20 | Rated Output Power | W | 320 |
| Rated Phase Current | A(rms) | 9.5 |
| Peak Torque | Nm | 60 |
| Peak Phase Current | A(rms) | 29.1 |
| Efficiency | % | 72.7 |
| Motor Back-EMF Constant | Vdc/Krpm | 16 |
| Module Torque Constant | Nm/A | 2.1 |
| Motor Phase Resistance | Ω | .41 |
| Motor Phase Inductance | mH | .51 |
| Pole Pair | - | 10 |
| 3 Phase Connection | - | Y |
| Back Drive Torque | Nm | 1.6 |
| Backlash | Arcmin | 10 |
| Output Bearing Type | - | Crossed Roller Bearings |
| Axial Load - Suffer | KN | 1.8 |
| Axial Load - Stress | KN | .8 |
| Radial Load | KN | 2 |
| Inertia | Kg.cm^2 | .66 |
| Encoder Type | - | Dual Encoder ABS-17BIT(Input)/18BIT(Output) |
| Control Accuracy | Degree | <0.01 |
| Communication | - | CAN BUS (C) or EtherCAT (E) |
| Weight | Kg | .82 |
| Insulation Grade | - | F |