|
|
 PowerCube
Rotary PR
|
| Servo Robotic Joint with Precision
Gear Box |
| |
|
|
|
|
|
| Module type |
PR
070 |
PR
090 |
PR
110 |
| Motor data |
|
|
|
|
|
|
| Nominal torque [Nm] |
0.181 |
0.181 |
0.558 |
0.558 |
1.1 |
1.1 |
| Max. torque [Nm] |
0.565 |
0.565 |
1.6 |
1.6 |
3.3 |
3.3 |
| Nominal Rpm [min -1] |
5000 |
5000 |
4300 |
4300 |
4500 |
4500 |
| Voltage [V] |
24
± 1 |
24
± 1 |
24
± 1 |
24
± 1 |
48
± 2 |
48
± 2 |
| Max. Current [A] |
15 |
15 |
30 |
30 |
30 |
30 |
| Encoder |
|
|
|
|
|
|
| Resolution Slots/Rotation |
2000 |
2000 |
2000 |
2000 |
2000 |
2000 |
| Gear data |
|
|
|
|
|
|
| Ratio |
161 |
101 |
161 |
101 |
161 |
101 |
| Nominal torque [Nm] |
40 |
40 |
67 |
67 |
137 |
137 |
| Average torque [Nm] |
49 |
49 |
108 |
108 |
216 |
216 |
| Repeatable peak torque [Nm] |
92 |
87 |
176 |
167 |
372 |
353 |
| Max. Input Rpm [min -1] |
4000 |
4000 |
4000 |
4000 |
4000 |
4000 |
| Efficiency |
0.8 |
0.8 |
0.8 |
0.8 |
0.8 |
0.8 |
| Modul data |
|
|
|
|
|
|
| Nominal output torque [Nm] |
23 |
15 |
72 |
45 |
142 |
89 |
| Max. Output torque [Nm] |
73 |
46 |
206 |
129 |
425 |
267 |
| Max. Angular velocity [°/sec] |
149 |
238 |
149 |
238 |
149 |
238 |
| Resolution [arcsec/Inc] |
4 |
6 |
4 |
6 |
4 |
6 |
| Resolution [Inc/°] |
894 |
561 |
894 |
561 |
894 |
561 |
| Repeatability of Positioning
[°] |
±
0,02 |
±
0,02 |
±
0,02 |
±
0,02 |
±
0,02 |
±
0,02 |
| Positioning w/ limit switches
[°] |
±
160 |
±
160 |
±
160 |
±
160 |
±
160 |
±
160 |
| Positioning w/o limit switches
[± n * 360°] |
3335 |
5316 |
3335 |
5316 |
3335 |
5316 |
| Masse [kg] |
1.7 |
1.7 |
3.2 |
3.2 |
5.6 |
5.6 |
| Other
gear ratios on request |
| |
