Series HAMF-			25					32					40
Reduction ratio			51	81	101	121	161	51	81	101	121	161	51	81	101	121	161
220VAC	Peak torque	N·m	121	169	194	207	217	250	376	441	436	459	400	641	702	762	800
	Rated torque	N·m	68.5	107	133	133	133	90	150	190	230	267	150	240	300	360	480
	Maximum speed	rpm	94	59	48	40	30	75	47	38	31	24	59	37	30	25	19
	Rated speed	rpm	49	31	25	21	16	45	28	23	19	14	39	25	20	17	12
	Maximum current	Arms	6.9	6.07	5.58	4.97	3.92	11.56	10.95	9.6	8.5	6.72	14.42	14.55	12.78	11.58	9.13
	Rated current	Arms	3.9	3.84	3.83	3.2	2.4	4.16	4.37	4.44	4.48	3.91	5.41	5.45	5.46	5.47	5.48
	Torque constant	N m/Arms	17.54	27.86	34.74	41.62	55.38	21.62	34.34	42.82	51.3	68.26	27.74	44.06	54.94	65.82	87.58
	Phase resistance	Ohms(20℃)	3.55					2.1					2
	Phase inductance	mH	10					12					6
	Back EMF	Vrms/krpm	40					52.5					65
48VDC	Peak torque	N·m	121	169	194	207	217	250	376	411	436	459	280	440	550	660	800
	Rated torque	N·m	64	100	125	133	133	90	145	180	215	267	140	230	280	340	450
	Maximum speed	rpm	59	37	30	25	19	53	33	27	22	17	43	27	22	18	14
	Rated speed	rpm	49	31	25	21	16	45	28	23	19	14	31	20	16	13	10
	Maximum current	Arms	26.96	23.71	21.83	19.44	15.32	47.13	44.63	39.13	34.65	27.41	42.89	42.44	42.54	42.61	38.82
	Rated current	Arms	14.26	14.03	14.06	12.49	9.39	16.97	17.21	17.14	17.09	15.95	21.45	22.18	21.66	21.95	21.84
	Torque constant	N m/Arms	4.49	7.13	8.89	10.65	14.17	5.3	8.42	10.5	12.58	16.74	6.53	10.37	12.93	15.49	20.61
	Phase resistance	Ohms(20℃)	0.13					0.2					0.074
	Phase inductance	mH	0.36					0.4					0.3
	Back EMF	Vrms/krpm	10.5					12.57					15
Absolute Encoder	Encoder type		Absolute encoder
	Resolution (single motor revolution)	bit	23,24 bits					23bits
	Motor Multi-turn counter	bit	16
Uni-directional positional accuracy		Arc sec	≤70	≤60	≤60	≤50	≤50	≤65	≤60	≤55	≤45	≤45	≤60	≤60	≤50	≤45	≤45
Repeatability of positioning accuracy		Arc sec	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10
Overturning stiffness		x104 N·m /rad	38					95					175
Torsional stiffness		x104 N·m /rad	3.4	4.6				3.4	9.9				14	18.6
Inertia moment	Without brake	kg*m2	2.3*10^-4					8.03*10^-4					1.72*10^-3
Mass	Without brake	Kg	3.7					6.68					12.2
Number of motor poles		Pole	16
Ambient conditions			Operating temperature: 0~40℃ Storage temperature: -20~60℃ Operating humidity/Storage humidity: 20~80%RH (no condensation) Vibration resistance: 24.5m/s2 (frequency: 10~400Hz) No dust or metal powder , corrosive gases, flammable gases, oil mist and other indoor use, avoid direct sunlight Below 1000m altitude
Motor insulation			Insulation resistance: more than 100MΩ(DC500V)
			Dielectric strength: AC1500V/ 1 minute
			Insulation class: F
Degrees of Protection			Totally enclosed self-cooled type (IP65)

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