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 | 13.2 | A |
Rated Input Power | 950.4 | W |
Rated Phase Current | 16.5 | A |
Rated Torque | 30 | Nm |
Allowable Continuous Torque | 20 | Nm |
Peak Phase Current | 100 | A |
Peak Speed | 260 | RPM |
Peak Torque | 140 | Nm |
Torque Constant | 1.9 | Nm/A |
Average Motor Efficiency | 73% |
|
Communication | CAN/CANFD |
|
Communication Baud Rate | 1M/5M |
|
Dual Encoder | Yes |
|
Reduction Ratio | 22 |
|
Motor Weight | 1090 (Type A)/1060 (Type B)/1118 (Type C, est.) | g |
Gear Reducer Backlash | ≤18 | Arcmin |
Motor Size (OD x Thickness) | 88×72 (w/ power)/88×63.8 (w/o power) (Type A); 88×70/88×60 (Type B); 88×70/88×60 (Type C) | mm |
Hollow Bore Diameter | 5.2 | mm |
Axial / Radial Load | 2.63 | KN |
Bending Moment Resistance | 53 | Nm |
Crossed Roller Bearing Model | 6005 |
|
Rotor Inertia | 50 | 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 | 0.2 | 1.39 | 0 | 0 | 0.14 |
0.05 | 3.6 | 4 | 4.3 | 0 | 0 | 0.93 |
0.08 | 5.76 | 7.5 | 6.34 | 0 | 0 | 1.18 |
0.13 | 9.36 | 12.5 | 8.38 | 0 | 0 | 1.49 |
0.16 | 11.52 | 16.4 | 9.78 | 0 | 0 | 1.68 |
0.19 | 13.68 | 19.9 | 11.2 | 0 | 0 | 1.78 |
0.29 | 20.88 | 24.7 | 13.88 | 0 | 0 | 1.78 |
0.34 | 24.48 | 28.7 | 16.01 | 0 | 0 | 1.79 |
0.4 | 28.8 | 32 | 17.41 | 0 | 0 | 1.84 |
0.47 | 33.84 | 35.8 | 19.45 | 0 | 0 | 1.84 |
0.55 | 39.6 | 39.4 | 20.83 | 0 | 0 | 1.89 |
0.68 | 48.96 | 43.8 | 23.55 | 0 | 0 | 1.86 |
0.81 | 58.32 | 47.8 | 25.64 | 0 | 0 | 1.86 |
0.97 | 69.84 | 53 | 28.38 | 0 | 0 | 1.87 |
1.06 | 76.32 | 57.5 | 30.48 | 0 | 0 | 1.89 |
1.29 | 92.88 | 62.2 | 32.58 | 0 | 0 | 1.91 |
1.35 | 97.2 | 65.6 | 34.58 | 0 | 0 | 1.90 |
1.54 | 110.88 | 70.2 | 36.69 | 0 | 0 | 1.91 |
1.91 | 137.52 | 74.9 | 39.44 | 0 | 0 | 1.90 |
2.23 | 160.56 | 79.2 | 41.53 | 0 | 0 | 1.91 |
2.5 | 180 | 83.1 | 44.25 | 0 | 0 | 1.88 |
2.85 | 205.2 | 87.1 | 46.38 | 0 | 0 | 1.88 |
3.19 | 229.68 | 91.4 | 49.07 | 0 | 0 | 1.86 |
3.59 | 258.48 | 95.5 | 51.2 | 0 | 0 | 1.87 |
4.08 | 293.76 | 99.2 | 53.9 | 0 | 0 | 1.84 |
4.46 | 321.12 | 103 | 56.01 | 0 | 0 | 1.84 |
4.98 | 358.56 | 106.8 | 58.73 | 0 | 0 | 1.82 |
5.46 | 393.12 | 110 | 60.81 | 0 | 0 | 1.81 |
6.33 | 455.76 | 114 | 64.28 | 0 | 0 | 1.77 |
7.32 | 527.04 | 118.5 | 68.42 | 0 | 0 | 1.73 |
8.57 | 617.04 | 122.1 | 71.88 | 0 | 0 | 1.70 |
10.68 | 768.96 | 126.2 | 77.4 | 0 | 0 | 1.63 |
12.41 | 893.52 | 130.1 | 82.25 | 0 | 0 | 1.58 |
13.43 | 966.96 | 134.1 | 87.04 | 0 | 0 | 1.54 |
14.87 | 1070.64 | 138.3 | 91.84 | 0 | 0 | 1.51 |
17.82 | 1283.04 | 143.9 | 99.47 | 0 | 0 | 1.45 |
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 |
4.07 | 130.29 | 4.8 | 259.22 | 3.52 | 44% | 1.36 |
5.45 | 227.22 | 8.4 | 258.33 | 9.92 | 58% | 0.85 |
6.86 | 311.43 | 11.6 | 256.39 | 9.26 | 63% | 1.25 |
7.1 | 402.78 | 15.1 | 254.74 | 8.32 | 79% | 1.81 |
9.43 | 493.18 | 18.6 | 253.22 | 12.17 | 73% | 1.53 |
10.05 | 556.09 | 21.1 | 251.69 | 16.02 | 77% | 1.32 |
11 | 630.71 | 24.1 | 249.93 | 17.5 | 80% | 1.38 |
12.73 | 705.83 | 27.3 | 246.91 | 19.52 | 77% | 1.40 |
15.8 | 792.72 | 31 | 244.21 | 17.43 | 70% | 1.78 |
17.14 | 849.82 | 33.6 | 241.54 | 26.26 | 69% | 1.28 |
17.71 | 891.44 | 35.5 | 239.81 | 22.92 | 70% | 1.55 |
18.38 | 934.36 | 37.5 | 237.95 | 28.69 | 71% | 1.31 |
18.73 | 987.64 | 39.9 | 236.39 | 20.92 | 73% | 1.91 |
19.12 | 1038.96 | 42.4 | 234.01 | 25.54 | 75% | 1.66 |
19.99 | 1100.91 | 45.5 | 231.07 | 29.27 | 76% | 1.55 |
21.81 | 1164.81 | 48.5 | 229.36 | 30.4 | 74% | 1.60 |
23.35 | 1222.94 | 51.7 | 225.9 | 31.03 | 73% | 1.67 |
24.43 | 1326.63 | 57.4 | 220.72 | 34.37 | 75% | 1.67 |
25.77 | 1365.13 | 59.8 | 218.01 | 30.63 | 74% | 1.95 |
27.03 | 1403.28 | 62.3 | 215.11 | 39.22 | 72% | 1.59 |
30.05 | 1451.94 | 65.9 | 210.41 | 45.02 | 67% | 1.46 |
31.86 | 1485.46 | 68.4 | 207.4 | 43.78 | 65% | 1.56 |
34.03 | 1531.11 | 71.8 | 203.65 | 47.49 | 62% | 1.51 |
35.75 | 1588.48 | 76.4 | 198.56 | 59 | 62% | 1.29 |
38.13 | 1653.43 | 82.1 | 192.33 | 65.51 | 60% | 1.25 |
42.89 | 1701.90 | 89 | 182.62 | 68.55 | 55% | 1.30 |
45.26 | 1766.52 | 97 | 173.92 | 77.48 | 54% | 1.25 |
46.85 | 1826.30 | 105.8 | 164.85 | 87.78 | 54% | 1.21 |
50.54 | 1888.61 | 114.8 | 157.11 | 98.84 | 52% | 1.16 |
50.28 | 1841.58 | 123.6 | 142.29 | 95.32 | 51% | 1.30 |
47.99 | 1673.76 | 131.7 | 121.37 | 101.31 | 48% | 1.30 |
27.38 | 779.67 | 137.2 | 54.27 | 101.92 | 40% | 1.35 |
15.47 | 133.85 | 139.4 | 9.17 | 100.37 | 12% | 1.39 |
14.02 | 1.63 | 141.2 | 0.11 | 99.95 | 0% | 1.41 |
Motor Torque Characteristics Curve
Motor T-N Curve
