DC Brushless Low Rpm Exoskeleton Robot Joint Actuator Module MotorI-Description of robot joint motor module actuator OD 110mm Small size robot joint actuator servo motor is mainly used for Robot Arm, integrated harmonic reducer, encoder, dc motor and driver. The robot joint servo motor could be used in robot arm joint directly, help build robot joints quickly.II-Parameter information of robot joint motor module actuator Overall parameter     Motor rated voltage36VDC±10%Motor rated current7AOutput torque after deceleration51NM Weight2.5KG Speed range after deceleration0~30RPMReducer parameter       Reduction ratio50Rated torque51NMPeak start-stop torque127NMAllowable maximum value of average load torque72NMMomentary allowable maximum torque242NMBackspaceLess than 20 arc secondsDesign life8500hourMotor parameter       Torque2NMRated speed1000RPMMaximum rotational speed1500RPMPower200WResistance0.53Inductance 0.5mhRotary inertia1.74x10-4KG / M2 III-Advantage of robot joint motor module actuator A,Highly integrated structure B. Support SDO TPDO RPDOC:Support position mode, support Pulse + Direction signal, encoder D:Speed mode, support PWM duty cycle signal speed regulationE:Isolated CANopen communication, built-in isolated power supply, low power consumption multi-turn absolute value, built-in battery, automatic charging. IV-More details of robot joint motor module actuator