ZHA-R102-161-DBN-I

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ZBDynamiX Co., Ltd.

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Key Attributes

Dimensions	R102*88mm
Mass	2.5kg
Reduction Ratio	161:1
Output Speed (RPM)	18RPM
Nominal Torque	147Nm
Peak Torque	350Nm
Backlash	30 arcsec
Nominal Voltage	48V
Nominal Power	446.4W
Motor Nominal Speed (RPM)	1800
Nominal Current	9.3A
Peak Current	33.8A
Encoder Specs	Dual Encoder, 19bit
Communication Protocol(Optional)	EtherCAT/CANOpen/CANFD
Control Loop Frequency (Current/Velocity)	Current: 20KHz, Vel: 10KHz
Brake Static Torque	1.7Nm
Brake Release Time	≤100ms
Brake Engagement Time	≤50ms
Force Sensor Range	/
Force Sensor Overload Capacity	/
Force Sensor Comm/Acc	/
Application in Robotics	Waist/Hip

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