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6Specifications (<strong>common</strong>) <br />
6.3.3 Harmonic Gear<br />
Motor Model Unit PBM282FHLE20 PBM282FHME20 PBM423FHJE20 PBM423FHLE20 PBM423FHME20<br />
Reduction Gear Ratio 1:50 1:100 1:30 1:50 1:100<br />
Torque Tolerance Nm 1.5 2 2.2 3.5 5<br />
Instantaneous Torque<br />
Tolerance<br />
Nm 2.7 3.6 4.5 8.3 11<br />
Rotation Tolerance min -1 70 35 116 70 35<br />
0.43<br />
0.43<br />
Lost Motion<br />
minute<br />
<br />
(±0.06Nm) (±0.08Nm)<br />
Hysteresis Loss minute 3.6 2.4 2.4<br />
Rotational Direction<br />
Compared to the<br />
CMD<br />
Reverse Reverse Reverse Reverse Reverse<br />
Rotor Inertia ×10 -4 kgm 2 0.012 0.068<br />
Thrust Load Tolerance N 9.8 1150<br />
Radial Load Tolerance* N 33 209<br />
Motor Weight Kg 0.27 0.54<br />
Motor Model<br />
Unit<br />
PBM603FHLE20<br />
PBM603FHME20<br />
Reduction Gear Ratio 1:50 1:100<br />
Torque Tolerance Nm 5.5 8<br />
Instantaneous Torque<br />
Tolerance<br />
Nm 14 20<br />
Rotational Tolerance min -1 70 35<br />
Lost Motion<br />
minute<br />
0.43<br />
(±0.28Nm)<br />
0.43<br />
(±0.4Nm)<br />
Hysteresis Loss minute <br />
Rotational Direction Compared to the CMD Reverse Reverse<br />
Rotor Inertia ×10 -4 kgm 2 0.435<br />
Thrust Load Tolerance N 400<br />
Radial Load Tolerance* N 360<br />
Motor Weight Kg 1.45<br />
There is no harmonic gear option for the PBM284 and PBM604.<br />
The load point is at 1/3 length from the output shaft.<br />
65