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軸向負載

( Max axial force )

1000N

絕緣等級

(Insulation Class)

Class F

防護等級

(Protection level)

IP54

減速比（Reduction Ratio）

9:1

     15:1

額定功率(Rated power)                  P_n

W

500

1000

額定電壓(Rated voltage)                 U

V

48VDC

48VDC

額定轉(zhuǎn)速(Rated speed)                  n_n

RPM

222

311

額定轉(zhuǎn)矩(Rated torque)                 T_n

N·m

22

40

額定電流(Rated current)                 I_n

Arms

16

32

最大轉(zhuǎn)速(Maximum speed)             n_max

RPM

409

555

最大轉(zhuǎn)矩(Maximum torque)             T_m

N·m

66

99

最大電流(Maximum current)             I_m

 Arms

50

96

電阻(Line to line resistance)              R_L

Ω

0.1

0.035

電感(Line to line inductance)             L_L

mH

0.35

0.13

反電勢系數(shù)(Back EMF)                 Ke

Vrms/Krpm

9.3

7.5

轉(zhuǎn)矩系數(shù)(Torque constant)               Kt

Nm/Arms

0.153

0.124

電氣時間常數(shù)(Electrical time constant)    τ_e

ms

3.5

3.71

機械時間常數(shù)（Mechanical time constant) τ_m

ms

1.44

1.3

轉(zhuǎn)動慣量(Rotor inertia)                 J_m0

kg. m²

1.97x10^-4

3.34x10^-4

極數(shù)(Number of poles)

16

16

機身長度(Motor length)                 L

mm

152

184

輪邊直徑(Wheel diameter)               D

mm

165

180

輪邊直徑(Wheel width)                 L1

mm

39.5

50

重量 (Weight)

Kg

5

11.5