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Frameless Motor for Joint of Collaborative Robot

Joint frameless motor is specially designed and manufactured for robot joints. The motor has large hollow aperture, perfect combination of joint modules, compact stator and rotor mechanism, and high performance rare earth permanent magnet material used in the rotor. This series of motors have very low torque ripple, easy speed control and accurate positioning, small rotational inertia and fast dynamic response.

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Main Features

Large Hollow Aperture

Hollow large aperture, perfect fusion with your joint module

Good heat dissipation

Good heat dissipation and insulation

Compact structure

High Performance Rare Earth Permanent Magnet Material Used in Compact Rotor with Stator and Rotor Structure

Fast response

Small moment of inertia and fast dynamic response

Precision control

Torque ripple is very low, easy to control speed and precise positioning.

Spec Parameters

Motor parameters	Unit	5420	6013	6425	7631	8427	10031
Continuous rated output power	W	118	118	200	308	400	750
Speed @ rated power	rpm	4300	4000	3000	2300	3000	2000
Design Voltage	V	48	48	48	48	48	48
Continuous blocking torque	Nm	0.42	0.44	0.9	1.7	1.76	4.3
Continuous current	A	4.7	4.6	6.1	9.2	11.5	19.6
Peak Torque	Nm	1.4	1.45	2.8	5.52	5.2	11.7
peak current	A	16.1	15.3	19.8	32.6	38.2	52.6
Line Back EMF	Vrms/krpm	6.4	6.3	9.3	12.6	9.8	14.3
Torque Constant	Nm/Arms	0.096	0.094	0.149	0.185	0.155	0.227
Alveolar Positioning Torque	mNm	1.2	1.1	2.4	1.9	1.6	7.2
Stator phase resistance	Ω	0.77	0.72	0.51	0.18	0.12	0.08
Stator d/q axis inductance	mH	0.31	0.3	0.59	0.29	0.3	0.15
Pole number		12	12	8	12	12	12
Total weight of stator and rotor	kg	0.27	0.26	0.51	0.72	0.91	1.71

Main Applications

Cooperative Robot 14,17,20,25

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