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 | 6.25 | A |
Rated Input Power | 450 | W |
Rated Phase Current | 8.8 | A |
Rated Torque | 10 | Nm |
Allowable Continuous Torque | 9 | Nm |
Peak Phase Current | 40 | A |
Peak Speed | 359 | RPM |
Peak Torque | 42 | Nm |
Torque Constant | 1.4 | Nm/A |
Average Motor Efficiency | 71% |
|
Communication | CAN/CANFD |
|
Communication Baud Rate | 1M/5M |
|
Dual Encoder | Yes |
|
Reduction Ratio | 17 |
|
Motor Weight | 505 (Type A)/501 (Type B)/492 (Type C, est.) | g |
Gear Reducer Backlash | 18 | Arcmin |
Motor Size (OD x Thickness) | 60×72 (w/ power)/60×63.8 (w/o power) (Type A); 60×71.5/60×61.5 (Type B); 60×70.5/60×61.3 (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 | 11 | Kg·mm² |
Measured Data - Torque Characteristics (72V)
Bus Current (A) | Input Power (W) | Torque (Nm) | Phase Current (A) | Speed (RPM) | Efficiency | Torque / Phase Current |
0.03 | 2.16 | 1.2 | 0.79 | 0 | 0 | 1.52 |
0.03 | 2.16 | 2.2 | 1.39 | 0 | 0 | 1.58 |
0.05 | 3.6 | 3.2 | 1.96 | 0 | 0 | 1.63 |
0.05 | 3.6 | 4.2 | 2.77 | 0 | 0 | 1.52 |
0.07 | 5.04 | 5.1 | 3.31 | 0 | 0 | 1.54 |
0.1 | 7.2 | 6.4 | 4.18 | 0 | 0 | 1.53 |
0.13 | 9.36 | 7.7 | 5.28 | 0 | 0 | 1.46 |
0.16 | 11.52 | 8.5 | 5.82 | 0 | 0 | 1.46 |
0.22 | 15.84 | 9.9 | 6.92 | 0 | 0 | 1.43 |
0.27 | 19.44 | 11.2 | 7.78 | 0 | 0 | 1.44 |
0.32 | 23.04 | 12.1 | 8.59 | 0 | 0 | 1.41 |
0.36 | 25.92 | 13.4 | 9.4 | 0 | 0 | 1.43 |
0.42 | 30.24 | 14.3 | 9.97 | 0 | 0 | 1.43 |
0.49 | 35.28 | 15.2 | 10.78 | 0 | 0 | 1.41 |
0.57 | 41.04 | 16.4 | 11.62 | 0 | 0 | 1.41 |
0.62 | 44.64 | 17.5 | 12.71 | 0 | 0 | 1.38 |
0.71 | 51.12 | 18.6 | 13.55 | 0 | 0 | 1.37 |
0.82 | 59.04 | 19.7 | 14.64 | 0 | 0 | 1.35 |
1.04 | 74.88 | 21.8 | 16.57 | 0 | 0 | 1.32 |
1.27 | 91.44 | 22.8 | 17.42 | 0 | 0 | 1.31 |
1.39 | 100.08 | 23.9 | 18.25 | 0 | 0 | 1.31 |
1.51 | 108.72 | 24.9 | 19.34 | 0 | 0 | 1.29 |
1.85 | 133.2 | 26.2 | 20.7 | 0 | 0 | 1.27 |
2.03 | 146.16 | 27.1 | 21.55 | 0 | 0 | 1.26 |
2.26 | 162.72 | 28.1 | 22.92 | 0 | 0 | 1.23 |
2.57 | 185.04 | 29.1 | 24.04 | 0 | 0 | 1.21 |
2.89 | 208.08 | 30.1 | 25.4 | 0 | 0 | 1.19 |
3.47 | 249.84 | 31.2 | 26.78 | 0 | 0 | 1.17 |
3.85 | 277.2 | 32.3 | 27.89 | 0 | 0 | 1.16 |
4.42 | 318.24 | 33.4 | 29.27 | 0 | 0 | 1.14 |
5.05 | 363.6 | 34.5 | 30.64 | 0 | 0 | 1.13 |
5.79 | 416.88 | 35.8 | 32.04 | 0 | 0 | 1.12 |
6.7 | 482.4 | 37 | 33.7 | 0 | 0 | 1.10 |
8.02 | 577.44 | 38 | 35.33 | 0 | 0 | 1.08 |
9.44 | 679.68 | 39.2 | 37.27 | 0 | 0 | 1.05 |
13.77 | 991.44 | 40.6 | 39.74 | 0 | 0 | 1.02 |
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 | 28.69 | 0.8 | 342.44 | 2.39 | 21% | 0.33 |
2.13 | 42.99 | 1.2 | 342.14 | 2.31 | 28% | 0.52 |
2.89 | 77.73 | 2.2 | 337.43 | 3.76 | 37% | 0.59 |
3.43 | 111.53 | 3.2 | 332.86 | 4.84 | 45% | 0.66 |
3.7 | 131.64 | 3.8 | 330.84 | 3.96 | 49% | 0.96 |
4.1 | 161.12 | 4.7 | 327.39 | 3.76 | 55% | 1.25 |
4.25 | 179.86 | 5.3 | 324.08 | 4.45 | 59% | 1.19 |
5.06 | 198.36 | 5.9 | 321.08 | 7.03 | 54% | 0.84 |
5.61 | 216.62 | 6.5 | 318.26 | 7.74 | 54% | 0.84 |
5.59 | 234.89 | 7.1 | 315.95 | 4.51 | 58% | 1.57 |
6.17 | 264.79 | 8.1 | 312.19 | 9.48 | 60% | 0.85 |
6.29 | 284.48 | 8.8 | 308.73 | 6.76 | 63% | 1.30 |
7.18 | 297.55 | 9.3 | 305.55 | 10.4 | 58% | 0.89 |
7.39 | 314.41 | 9.9 | 303.29 | 10.96 | 59% | 0.90 |
7.97 | 338.51 | 10.8 | 299.33 | 12.5 | 59% | 0.86 |
8.29 | 361.93 | 11.7 | 295.42 | 12.59 | 61% | 0.93 |
9.03 | 386.93 | 12.7 | 290.96 | 12.64 | 60% | 1.00 |
9.68 | 412.79 | 13.8 | 285.66 | 12.53 | 59% | 1.10 |
10.34 | 432.89 | 14.7 | 281.23 | 14.39 | 58% | 1.02 |
10.31 | 448.84 | 15.4 | 278.34 | 15.7 | 60% | 0.98 |
10.82 | 476.24 | 16.6 | 273.98 | 14.97 | 61% | 1.11 |
11.76 | 508.75 | 18.1 | 268.43 | 16.29 | 60% | 1.11 |
11.94 | 529.64 | 19.2 | 263.44 | 21.16 | 62% | 0.91 |
13.24 | 558.01 | 21 | 253.76 | 22.23 | 59% | 0.94 |
14.46 | 577.58 | 22.3 | 247.35 | 20.96 | 55% | 1.06 |
14.67 | 597.78 | 23.9 | 238.86 | 25.9 | 57% | 0.92 |
15.62 | 622.10 | 25.7 | 231.17 | 27.34 | 55% | 0.94 |
16.13 | 647.69 | 28 | 220.91 | 29.12 | 56% | 0.96 |
18.62 | 664.63 | 30.4 | 208.79 | 27.09 | 50% | 1.12 |
20.85 | 646.77 | 32.9 | 187.74 | 33.84 | 43% | 0.97 |
22.36 | 601.50 | 35.9 | 160.01 | 38.25 | 37% | 0.94 |
24.56 | 525.01 | 38.3 | 130.91 | 39.55 | 30% | 0.97 |
26.05 | 388.66 | 39.8 | 93.26 | 41.98 | 21% | 0.95 |
6.48 | 0.00 | 43.2 | 0 | 39.98 | 0% | 1.08 |
Motor Torque Characteristics Curve
Motor T-N Curve
