
| Planetary structure | |
| Outer diameter: 80.0 mm | Thickness: 34.07 mm |
| Reduction ratio: i=9.67 | Backlash: 15-20 arcmin |
| Motor Power: 328W | Rated Voltage: 24-48V |
| Rated Speed: 310rpm | Rated Torque: 6Nm |
| Peak torque: 18 Nm | No-load speed: 400 rpm |
| Phase damping: 224uQ | Phase inductance: 235 uH |
| Phase current full scale: 33 A | Rated bus current: 12A |
| Static working bus current: 0.08A | Motor structure: 18N20P |
| Thermistor: 10kB3435%1 | B value of ntc: 3435 |
| (Ke) Back electromotive force constant: 0.0727Vs/Rad | Motor KV value: 104kv |
| Weight: 305g | Allow radial force: 250N |
| Allow axial force: 100N | |