Introduction
This series is the second-generation planetary joint module, featuring a high-performance inner-rotor motor specifically optimized for cogging torque and slot fill factor, delivering low torque ripple and high power density. It is paired with a two-stage planetary gear reducer; the first and second stages are independently designed and gear parameters have been refined through multiple rounds of simulation, achieving balanced load distribution and high load capacity. The module integrates a full set of self-developed power and communication interfaces, supports horizontal and vertical form factors with multiple specifications, and features a male-female locking mechanism to prevent loosening. The output and fixed ends are optimized for quick release; the rear end uses a quick-release interface, the front end is available in quick-release or non-quick-release versions, and a quick-release electrical connector is optional. The entire series adopts a hollow structure supporting internal wiring to avoid exposed cables. The motor supports multiple control modes with wide speed-control bandwidth and precise position control, and integrates over-temperature, over-voltage and overload protection. Dual encoders come as standard, with CAN/CANFD communication at 1M/5M baud rate.
Performance Parameters
Item | Value | Unit |
Rated Voltage | 72 | V |
Rated Bus Current | 4.4 | A |
Rated Input Power | 316.8 | W |
Rated Phase Current | 5.9 | A |
Rated Torque | 8.5 | Nm |
Allowable Continuous Torque | 8 | Nm |
Peak Phase Current | 40 | A |
Peak Speed | 332 | RPM |
Peak Torque | 36 | Nm |
Torque Constant | 1.4 | Nm/A |
Average Motor Efficiency | 68% |
|
Communication | CAN/CANFD |
|
Communication Baud Rate | 1M/5M |
|
Dual Encoder | Yes |
|
Reduction Ratio | 17 |
|
Motor Weight | 467 (Type A)/460 (Type B)/472 (Type C, est.) | g |
Gear Reducer Backlash | 18 | Arcmin |
Motor Size (OD x Thickness) | 60×68 (w/ power)/60×59.8 (w/o power) (Type A); 60×67.5/60×57.5 (Type B); 60×66.5/60×57.3 (Type C) | mm |
Hollow Bore Diameter | 4 | mm |
Axial / Radial Load | 2.2 | KN |
Bending Moment Resistance | 17 | Nm |
Crossed Roller Bearing Model | 3505 |
|
Rotor Inertia | 8 | Kg·mm² |
Measured Data - Torque Characteristics (72V)
Bus Current (A) | Input Power (W) | Torque (Nm) | Phase Current (A) | Speed (RPM) | Efficiency | Torque / Phase Current |
0.04 | 2.88 | 1 | 0.79 | 0 | 0 | 1.27 |
0.06 | 4.32 | 1.9 | 1.38 | 0 | 0 | 1.38 |
0.07 | 5.04 | 2.9 | 1.95 | 0 | 0 | 1.49 |
0.09 | 6.48 | 3.8 | 2.51 | 0 | 0 | 1.51 |
0.1 | 7.2 | 4.7 | 3.34 | 0 | 0 | 1.41 |
0.14 | 10.08 | 6.1 | 4.18 | 0 | 0 | 1.46 |
0.19 | 13.68 | 7 | 4.99 | 0 | 0 | 1.40 |
0.23 | 16.56 | 7.9 | 5.54 | 0 | 0 | 1.43 |
0.27 | 19.44 | 8.8 | 6.09 | 0 | 0 | 1.44 |
0.35 | 25.2 | 10 | 7.17 | 0 | 0 | 1.39 |
0.42 | 30.24 | 10.8 | 7.76 | 0 | 0 | 1.39 |
0.53 | 38.16 | 12 | 8.83 | 0 | 0 | 1.36 |
0.64 | 46.08 | 13.1 | 9.67 | 0 | 0 | 1.35 |
0.71 | 51.12 | 13.9 | 10.25 | 0 | 0 | 1.36 |
0.84 | 60.48 | 15.1 | 11.32 | 0 | 0 | 1.33 |
0.99 | 71.28 | 16.2 | 12.15 | 0 | 0 | 1.33 |
1.22 | 87.84 | 17.3 | 13.23 | 0 | 0 | 1.31 |
1.55 | 111.6 | 19.2 | 14.9 | 0 | 0 | 1.29 |
1.67 | 120.24 | 19.9 | 15.47 | 0 | 0 | 1.29 |
1.9 | 136.8 | 20.9 | 16.31 | 0 | 0 | 1.28 |
2.25 | 162 | 22 | 17.4 | 0 | 0 | 1.26 |
2.56 | 184.32 | 23 | 18.25 | 0 | 0 | 1.26 |
2.94 | 211.68 | 23.9 | 19.33 | 0 | 0 | 1.24 |
3.23 | 232.56 | 24.8 | 20.17 | 0 | 0 | 1.23 |
3.89 | 280.08 | 25.9 | 21.55 | 0 | 0 | 1.20 |
4.63 | 333.36 | 26.9 | 22.89 | 0 | 0 | 1.18 |
5.49 | 395.28 | 27.9 | 24.29 | 0 | 0 | 1.15 |
6.88 | 495.36 | 29.1 | 26.22 | 0 | 0 | 1.11 |
8.54 | 614.88 | 30.1 | 28.16 | 0 | 0 | 1.07 |
10.91 | 785.52 | 31.1 | 30.39 | 0 | 0 | 1.02 |
14.19 | 1021.68 | 32.1 | 32.82 | 0 | 0 | 0.98 |
16.93 | 1218.96 | 32.9 | 34.48 | 0 | 0 | 0.95 |
22.08 | 1589.76 | 33.9 | 36.96 | 0 | 0 | 0.92 |
30.91 | 2225.52 | 35.1 | 39.7 | 0 | 0 | 0.88 |
Measured Data - Torque-Speed (T-N) Curve (72V)
Bus Current (A) | Output Power (W) | Torque (Nm) | Speed (RPM) | Phase Current (A) | Efficiency | Torque / Phase Current |
1.89 | 65.69 | 1.9 | 330.16 | 2.06 | 48% | 0.92 |
1.76 | 85.93 | 2.5 | 328.25 | 1.66 | 68% | 1.51 |
2.67 | 111.34 | 3.3 | 322.2 | 2.72 | 58% | 1.21 |
3.16 | 142.85 | 4.3 | 317.26 | 3.68 | 63% | 1.17 |
3.72 | 175.73 | 5.4 | 310.78 | 4.5 | 66% | 1.20 |
4.17 | 201.37 | 6.3 | 305.25 | 5.34 | 67% | 1.18 |
4.53 | 218.21 | 6.9 | 302.02 | 5.23 | 67% | 1.32 |
4.7 | 231.94 | 7.4 | 299.33 | 4.81 | 69% | 1.54 |
5.21 | 258.30 | 8.4 | 293.66 | 6.11 | 69% | 1.37 |
5.77 | 282.81 | 9.4 | 287.32 | 6.46 | 68% | 1.46 |
5.97 | 304.47 | 10.3 | 282.3 | 8.12 | 71% | 1.27 |
6.41 | 324.78 | 11.2 | 276.93 | 8.78 | 70% | 1.28 |
7.01 | 347.58 | 12.3 | 269.87 | 9.51 | 69% | 1.29 |
8.04 | 366.21 | 13.4 | 260.99 | 11.64 | 63% | 1.15 |
8.14 | 380.71 | 14.2 | 256.04 | 11.77 | 65% | 1.21 |
8.83 | 397.59 | 15.4 | 246.56 | 13.99 | 63% | 1.10 |
9.58 | 412.28 | 16.5 | 238.62 | 13.54 | 60% | 1.22 |
9.99 | 429.85 | 17.8 | 230.62 | 15.01 | 60% | 1.19 |
10.59 | 439.35 | 18.6 | 225.58 | 16.5 | 58% | 1.13 |
10.78 | 452.05 | 19.6 | 220.26 | 17.52 | 58% | 1.12 |
10.78 | 457.81 | 20.2 | 216.44 | 16.95 | 59% | 1.19 |
11.58 | 464.05 | 20.9 | 212.04 | 18.93 | 56% | 1.10 |
11.95 | 472.49 | 21.9 | 206.04 | 19.71 | 55% | 1.11 |
12.52 | 478.16 | 22.8 | 200.28 | 21.34 | 53% | 1.07 |
13.37 | 482.08 | 23.8 | 193.44 | 21.41 | 50% | 1.11 |
13.87 | 486.47 | 24.7 | 188.09 | 24.35 | 49% | 1.01 |
14.36 | 486.56 | 25.2 | 184.39 | 24.33 | 47% | 1.04 |
15.48 | 485.89 | 25.9 | 179.16 | 26.36 | 44% | 0.98 |
15.91 | 485.27 | 26.7 | 173.57 | 26.69 | 42% | 1.00 |
16.58 | 483.79 | 27.9 | 165.6 | 29.26 | 41% | 0.95 |
19.1 | 472.59 | 28.8 | 156.71 | 33.09 | 34% | 0.87 |
19.92 | 459.37 | 29.6 | 148.21 | 35.92 | 32% | 0.82 |
22.25 | 429.66 | 30.9 | 132.79 | 35.84 | 27% | 0.86 |
25.18 | 361.89 | 31.8 | 108.68 | 38.64 | 20% | 0.82 |
23.51 | 189.55 | 32.8 | 55.19 | 39.36 | 11% | 0.83 |
22.86 | 0.00 | 33.6 | 0 | 39.99 | 0% | 0.84 |
Motor Torque Characteristics Curve
Motor T-N Curve
