ZZD155 INTEGRATED JOINT SERIES

  • ZD113-20-B10-1/2 Outline Dimension Diagram

  • ZD113-20-B18-1/2 Outline Dimension Diagram

Joint Parameters

ItemZD113-20-B10-1ZD113-20-B18-1
SizesФ113mm*54mmФ113mm*63mm
Rated Voltage60V60V
Peak Rotational Speed330rpm185rpm
Rated Torque32N.m57.6N.m
Rated Speed120rpm75rpm
Rated Line Current17A17A
20s Peak Torque96N.m175N.m
20s Peak Line Current50.75A50.75A
Line Resistance0.074Ω0.074Ω
Wire Inductance0.078mH0.078mH
Back EMF Coefficient17.47V/krpm17.47V/krpm
Torque Constant1.9N.m/Arms3N.m/Arms
Velocity Constant55rpm/V55rpm/V
Encoder ResolutionMotor side 18bitMotor side 18bit
Insulation Resistance/Stator WindingVDC, 10MΩ500VDC, 10MΩ
High Voltage Resistance/Stator and Casing500VAC, 5s, 5mA500VAC, 5s, 5mA
Weightg±20g1540g±20g
Pole4242
Torque Density73Nm/Kg112Nm/Kg
Reduction Ratio10:118:1