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Size Guide
Understanding Gracelothing Sizing
Description
x
Application Scenarios
Humanoid Robots
Robotic Arms
Exoskeletons
Quadruped Robots
AGV Vehicles
ARU Robots
Technical Specifications
| Parameter | Value(CE-HM-R120) | Value(CE-HM-R120) | Value(CE-HM-R120) | Value(CE-HM-R120Max) |
|---|---|---|---|---|
| Configuration | 51:1 | 101:1 | 161:1 | 161:1 |
| Output Speed(RPM) | 49 | 20 | 12 | 11 |
| Rated Torque(Nm) | 66 | 131 | 200 | 300 |
| Peak Torque(Nm) | 165 | 300 | 500 | 600 |
| Backlash(Arcsec) | 15 | 15 | 15 | 30 |
| Rated Voltage(V) | 48 | 48 | 48 | 48 |
| Rated Power(W) | 732 | 732 | 732 | 1166.4 |
| Rated Speed(RPM) | 3500 | 3500 | 3500 | 1800 |
| Rated Current(A) | 15 | 15 | 15 | 24.3 |
| Peak Current(A) | 45 | 45 | 45 | 93 |
| Éncoder |
Dual Encoders Single-turn Absolute Value: 19-bit per turn |
Dual Encoders Single-turn Absolute Value: 19-bit per turn |
Dual Encoders Single-turn Absolute Value: 19-bit per turn |
Dual Encoders Single-turn Absolute Value: 19-bit per turn |
| Driver |
Interface: EtherCAT/CAN Current Loop: 50KHz Speed Loop: 10KHz |
Interface: EtherCAT/CAN Current Loop: 50KHz Speed Loop: 10KHz |
Interface: EtherCAT/CAN Current Loop: 50KHz Speed Loop: 10KHz |
interface: EtherCAT/CAN Current Loop: 50KHz Speed Loop: 10KHz |
| Overall Dimensions | R120*78.5mm | R120*78.5mm | R120*78.5mm | R120*100mm |
| Overall Weight | 2.5kg | 2.5kg | 2.5kg | 4kg |
| Typical Applications | Shoulder Joint , Hip Joint , Waist Joint | Shoulder Joint , Hip Joint , Waist Joint | Shoulder Joint , Hip Joint , Waist Joint | Shoulder Joint , Hip Joint , Waist Joint |
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