Peak Stall Peak Torque at Cont. Stall Cont. Rated Speed Rated ωmax. Cont. Stall Current@Peak Inertia➂
Servo Servo Torque at Max. Speed Torque Torque at Knee Speed Speed Current Torque J
Motor Drive
T
ps
➁ T
ms
T
cs
T
cr
ω
k
ω
r
ω
max
I
cs
I
ps
kg-cm
2
Model Model N-m (lb-in) N-m (lb-in) N-m (lb-in) N-m (lb-in) rpm rpm rpm
A
rms
A
rms
(lb-in-s
2
x 10
-3
)
AKM11E S20330 0.50 (4.45) 0.264 (2.34) 0.19 (1.64) 0.18 (1.56) 3,530 6,000 8,000 2.91 9.0 0.017 (0.015)
AKM12E S20330 0.90 (8.0) 0.0 (0.0) 0.30 (2.69) 0.30 (2.68) 1,380 3,000 7,180 2.72 9.0 0.031 (0.0274)
AKM13D S20330 1.29 (11.4) 0.0 (0.0) 0.40 (3.55) 0.40 (3.55) 0 2,000 4,750 2.4 9.0 0.045 (0.0398)
AKM21E S20330 1.21 (10.7) 0.0 (0.0) 0.48 (4.23) 0.48 (4.21) 1,320 2,000 5,050 3.0 9.0 0.107 (0.0947)
AKM21G S20630 1.44 (12.7) 0.0 (0.0) 0.50 (4.43) 0.46 (4.05) 2,350 4,000 7,800 4.87 18.0 0.107 (0.0947)
AKM22E S20330 2.34 (20.7) 0.0 (0.0) 0.87 (7.71) 0.85 (7.55) 0 1,000 2,540 2.73 9.0 0.161 (0.143)
AKM22G S20630 2.66 (23.6) 0.0 (0.0) 0.88 (7.79) 0.84 (7.39) 1,150 2,500 4,420 4.82 18.0 0.161 (0.143)
AKM23F S20630 3.88 (34.4) 0.0 (0.0) 1.18 (10.4) 1.15 (10.1) 352 1,500 2,940 4.31 17.2 0.216 (0.191)
AKM24F S20630 4.82 (42.6) 0.0 (0.0) 1.42 (12.6) 1.39 (12.3) 28 1,000 2,210 3.89 15.6 0.27 (0.239)
AKM31E S20330 3.24 (28.6) 0.0 (0.0) 1.20 (10.6) 1.19 (10.5) 118 750 1,990 2.99 9.0 0.33 (0.292)
AKM31H S20630 3.36 (29.7) 0.0 (0.0) 1.23 (10.9) 1.20 (10.6) 1,520 2,000 3,780 5.85 18.0 0.33 (0.292)
AKM32H S20630 6.22 (55.1) 0.0 (0.0) 2.10 (18.6) 2.06 (18.2) 634 1,200 2,090 5.5 18.0 0.59 (0.522)
AKM33H S20630 8.56 (75.8) 0.0 (0.0) 2.88 (25.5) 2.82 (25.0) 383 800 1,550 5.62 18.0 0.85 (0.752)
AKM41H S20630 5.48 (48.5) 0.0 (0.0) 2.06 (18.2) 1.99 (17.6) 604 1,000 2,190 5.6 18.0 0.81 (0.717)
AKM11B S20260 0.59 (5.27) 0.179 (1.58) 0.18 (1.62) 0.18 (1.60) 290 4,000 8,000 1.16 4.5 0.017 (0.015)
AKM11C S20260 0.51 (4.49) 0.30 (2.66) 0.19 (1.64) 0.18 (1.56) 4,160 6,000 8,000 1.45 4.5 0.017 (0.015)
AKM12C S20260 0.85 (7.49) 0.071 (0.628) 0.31 (2.73) 0.30 (2.69) 3,120 4,000 8,000 1.50 4.5 0.031 (0.0274)
AKM12E S20360 0.90 (8.0) .090 (8.0) 0.30 (2.69) 0.27 (2.42) 8,000 8,000 8,000 2.72 9.0 0.031 (0.0274)
AKM13C S20260 1.16 (10.3) 0.0 (0.0 0.41 (3.62) 0.41 (3.60) 2,110 3,000 6,160 1.48 4.5 0.045 (0.0398)
AKM13D S20360 1.37 (12.1) 0.624 (5.52) 0.40 (3.55) 0.36 (3.23) 4,560 7,000 8,000 2.4 9.0 0.045 (0.0398)
AKM21C S20260 1.17 (10.4) 0.0 (0.0) 0.45 (3.98) 0.45 (3.98) 1,810 2,500 5,630 1.50 4.5 0.107 (0.0947)
AKM21E S20360 1.21 (10.7) 0.695 (6.15) 0.48 (4.23) 0.41 (3.65) 5,330 7,000 8,000 3.0 9.0 0.107 (0.0947)
AKM22C S20260 2.34 (20.7) 0.0 (0.0) 0.84 (7.48) 0.83 (7.32) 187 1,000 2,830 1.39 4.5 0.161 (0.143)
AKM22E S20360 2.42 (21.4) 0.0 (0.0) 0.87 (7.71) 0.81 (7.13) 2,240 3,500 5,410 2.73 9.0 0.161 (0.143)
AKM23C S20260 3.20 (28.4) 0.0 (0.0) 1.13 (10.0) 1.11 (9.81) 53 1,000 2,130 1.41 4.5 0.216 (0.191)
AKM23D S20360 3.84 (33.9) 0.0 (0.0) 1.16 (10.2) 1.12 (9.93) 638 1,500 3,270 2.19 8.8 0.216 (0.191)
AKM24D S20360 4.76 (42.1) 0.0 (0.0) 1.41 (12.4) 1.36 (12.1) 529 1,500 2,710 2.21 8.8 0.27 (0.239)
AKM31E S20360 3.24 (28.6) 0.0 (0.0) 1.2 (10.7) 1.17 (10.4) 1,940 2,500 4,240 2.99 9.0 0.33 (0.292)
AKM32D S20360 7.05 (62.4) 0.0 (0.0) 2.04 (18.0) 2.00 (17.7) 165 1,000 1,870 2.23 8.9 0.59 (0.522)
AKM41E S20360 5.33 (47.2) 0.0 (0.0) 2.02 (17.8) 1.94 (17.2) 778 1,200 2,430 2.85 9.0 0.81 (0.717)
AKM11B S20260 0.59 (5.27) 0.59 (5.27) 0.18 (1.62) 0.17 (1.47) 8,000 8,000 8,000 1.16 4.5 0.017 (0.015)
AKM12C S20260 0.85 (7.49) 0.85 (7.43) 0.31 (2.73) 0.28 (2.47) 8,000 8,000 8,000 1.50 4.5 0.031 (0.0274)
AKM13C S20260 1.16 (10.3) 1.06 (9.38) 0.41 (3.62) 0.36 (3.22) 7,600 8,000 8,000 1.48 4.5 0.045 (0.0398)
AKM21C S20260 1.17 (10.4) 0.75 (6.64) 0.45 (3.98) 0.39 (3.42) 5,810 8,000 8,000 1.50 4.5 0.107 (0.0947)
AKM22C S20260 2.34 (20.7) 0.0 (0.0) 0.84 (7.48) 0.78 (6.92) 2,470 3,500 5,660 1.39 4.5 0.161 (0.143)
AKM22E S20360 2.42 (21.4) 1.61 (14.2) 0.87 (7.71) 0.70 (6.18) 6,010 8,000 8,000 2.73 9.0 0.161 (0.143)
AKM23C S20260 3.2 (28.4) 0.0 (0.0) 1.13 (10.0) 1.08 (9.52) 1,900 2,500 4,270 1.41 4.5 0.216 (0.191)
AKM23D S20360 3.84 (34.0) 0.0 (0.0) 1.16 (10.2) 1.03 (9.08) 3,020 5,000 6,540 2.19 8.8 0.216 (0.191)
AKM24C S20260 3.94 (34.9) 0.0 (0.0) 1.38 (12.2) 1.32 (11.7) 1,620 2,000 3,540 1.42 4.5 0.27 (0.239)
AKM24D S20360 4.76 (42.1) 0.0 (0.0) 1.41 (12.4) 1.29 (11.4) 2,620 4,000 5,420 2.21 8.8 0.27 (0.239)
AKM31C S20260 3.34 (29.6) 0.0 (0.0) 1.15 (10.2) 1.12 (9.94) 1,630 2,500 4,060 1.37 4.5 0.33 (0.292)
AKM31E S20360 3.24 (28.6) 0.77 (6.82) 1.2 (10.6) 0.95 (8.41) 5,000 6,000 8,000 2.99 9.0 0.33 (0.292)
AKM32C S20260 5.74 (50.8) 0.0 (0.0) 2.0 (17.7) 1.95 (17.2) 1,010 1,500 2,470 1.44 4.5 0.59 (0.522)
AKM32D S20360 7.05 (62.4) 0.0 (0.0) 2.04 (18.0) 1.93 (17.1) 1,670 2,500 3,750 2.23 8.9 0.59 (0.522)
AKM33C S20260 7.83 (69.3) 0.0 (0.0) 2.71 (24.0) 2.64 (23.4) 689 1,000 1,840 1.47 4.5 0.85 (0.752)
AKM33E S20360 8.95 (79.3) 0.0 (0.0) 2.79 (24.7) 2.62 (23.2) 1,640 2,000 3,140 2.58 9.0 0.85 (0.752)
AKM41C S20260 5.12 (45.3) 0.0 (0.0) 1.95 (17.3) 1.88 (16.6) 880 1,200 2,560 1.46 4.5 0.81 (0.717)
AKM41E S20360 5.33 (47.2) 0.0 (0.0) 2.02 (17.8) 1.82 (16.1) 2,140 3,000 4,850 2.85 9.0 0.81 (0.717)
AKM42E S20360 9.72 (86.0) 0.0 (0.0) 3.42 (30.3) 3.12 (27.6) 1,260 1,800 2,740 2.74 9.0 1.45 (1.28)
AKM43E S20360 13.6 (120) 0.0 (0.0) 4.7 (41.6) 4.24 (37.6) 937 1,500 2,000 2.76 9.0 2.09 (1.85)
AKM44E S20360 16.5 (146) 0.0 (0.0) 5.76 (51.0) 5.2 (46.0) 834 1,200 1,680 2.85 9.0 2.73 (2.42)
AKM51E S20360 11.6 (103) 0.0 (0.0) 4.7 (41.6) 4.41 (39.0) 942 1,200 2,010 2.75 8.2 3.42 (3.03)
Recommended Motor/Drive S
