Series HAS			11
Reduction ratio			51	101
220VAC	Peak torque	N·m	8.3	11
	Rated torque	N·m	4	8
	Maximum speed	rpm	102	51
	Rated speed	rpm	69	35
	Maximum current	Arms	2.03	1.36
	Rated current	Arms	0.98	0.99
	Torque constant	N m/Arms	4.08	8.08
	Phase resistance	Ohms(20℃)	12
	Phase inductance	mH	9.5
	Back EMF	Vrms/krpm	10.5
48VDC	Peak torque	N·m	8.3	11
	Rated torque	N·m	5.5	8.9
	Maximum speed	rpm	78	40
	Rated speed	rpm	59	30
	Maximum current	Arms	2.03	1.36
	Rated current	Arms	1.35	1.1
	Torque constant	N m/Arms	4.08	8.08
	Phase resistance	Ohms(20℃)	2.56
	Phase inductance	mH	1.8
	Back EMF	Vrms/krpm	9.5
Absolute Encoder	Encoder type		Absolute encoder
	Resolution (single motor revolution)	bit	23,24 bits
	Motor Multi-turn counter	bit	16
Uni-directional positional accuracy		Arc sec	≤90
Repeatability of positioning accuracy		Arc sec	≤20
Overturning stiffness		x104 N·m /rad	4
Torsional stiffness		x104 N·m /rad	0.3	0.34
Inertia moment	Without brake	kg*m2	8.32*10^-6
Inertia moment	With brake	kg*m2	8.73*10^-6
Mass	Without brake	Kg	1.17
Mass	With brake	Kg	1.36
Number of motor poles		Pole	10
Ambient conditions			Operating temperature: 0~40℃ Storage temperature: -20~60℃ Operating humidity/Storage humidity: 20~80%RH (no condensation) Vibration resistance: 24.5m/s2 (frequency: 10~400Hz) No dust or metal powder , corrosive gases, flammable gases, oil mist and other indoor use, avoid direct sunlight Below 1000m altitude
Motor insulation			Insulation resistance	more than 100MΩ(DC500V)
			Dielectric strength	AC1500V /1 minute
			Insulation class	F
Degrees of Protection			Totally enclosed self-cooled type: IP54

Series HAS			14			17				20					25					32					40
Reduction ratio			51	81	101	51	81	101	121	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161
220VAC	Peak torque	N·m	23	29	34	42	53	66	66	69	91	102	108	113	121	169	194	207	217	250	376	441	436	459	400	641	702	762	800
	Rated torque	N·m	8.6	13.5	13.5	27	33	49	49	30	48	58	61	61	68.5	107	133	133	133	90	150	190	230	267	150	240	300	360	480
	Maximum speed	rpm	118	74	59	98	62	50	41	98	62	50	41	31	94	59	48	40	30	75	47	38	31	24	59	37	30	25	19
	Rated speed	rpm	59	37	30	51	32	26	21	51	32	26	21	16	49	31	25	21	16	45	28	23	19	14	39	25	20	17	12
	Maximum current	Arms	2.09	1.66	1.56	3.68	2.92	2.92	2.44	6.04	5.02	4.51	3.98	3.13	6.9	6.07	5.58	4.97	3.92	11.56	10.95	9.6	8.5	6.72	14.42	14.55	12.78	11.58	9.13
	Rated current	Arms	0.78	0.77	0.62	2.36	1.82	2.17	1.81	2.63	2.65	2.56	2.25	1.69	3.9	3.84	3.83	3.2	2.4	4.16	4.37	4.44	4.48	3.91	5.41	5.45	5.46	5.47	5.48
	Torque constant	N m/Arms	11.02	17.5	21.82	11.42	18.14	22.62	27.1	11.42	18.14	22.62	27.1	36.06	17.54	27.86	34.74	41.62	55.38	21.62	34.34	42.82	51.3	68.26	27.74	44.06	54.94	65.82	87.58
	Phase resistance	Ohms(20℃)	7.5			6.2				6.2					3.55					2.1					2
	Phase inductance	mH	11.5			7.7				7.7					10					12					6
	Back EMF	Vrms/krpm	25			25				25					40					52.5					65
48VDC	Peak torque	N·m	23	29	34	42	53	66	66	69	91	102	108	113	121	169	194	207	217	250	376	411	436	459	280	440	550	660	800
	Rated torque	N·m	8.6	13.5	13.5	32	33	49	49	39	58	61	61	61	64	100	125	133	133	90	145	180	215	267	140	230	280	340	450
	Maximum speed	rpm	98	62	50	86	54	44	36	86	54	44	36	27	59	37	30	25	19	53	33	27	22	17	43	27	22	18	14
	Rated speed	rpm	59	37	30	51	32	26	21	51	32	26	21	16	49	31	25	21	16	45	28	23	19	14	31	20	16	13	10
	Maximum current	Arms	5.12	4.07	3.83	9.36	7.44	7.43	6.2	15.37	12.77	11.48	10.14	7.98	26.96	23.71	21.83	19.44	15.32	47.13	44.63	39.13	34.65	27.41	42.89	42.44	42.54	42.61	38.82
	Rated current	Arms	1.92	1.89	1.52	7.13	4.63	5.51	4.6	8.69	8.14	6.86	5.73	4.31	14.26	14.03	14.06	12.49	9.39	16.97	17.21	17.14	17.09	15.95	21.45	22.18	21.66	21.95	21.84
	Torque constant	N m/Arms	4.49	7.13	8.89	4.49	7.13	8.89	10.65	4.49	7.13	8.89	10.65	14.17	4.49	7.13	8.89	10.65	14.17	5.3	8.42	10.5	12.58	16.74	6.53	10.37	12.93	15.49	20.61
	Phase resistance	Ohms(20℃)	0.85			0.4				0.4					0.13					0.2					0.074
	Phase inductance	mH	1			0.9				0.9					0.36					0.4					0.3
	Back EMF	Vrms/krpm	6.5			7.7				7.7					10.5					12.57					15
Absolute Encoder	Encoder type		Absolute encoder			Absolute encoder				Absolute encoder					Absolute encoder					Absolute encoder					Absolute encoder
	Resolution (single motor revolution)	bit	23,24 bits			23,24 bits				23,24 bits					23,24 bits					23,24 bits					23,24 bits
	Motor Multi-turn counter	bit	16			16				16					16					16					16
Uni-directional positional accuracy		Arc sec	≤90	≤80	≤70	≤75	≤75	≤50	≤50	≤75	≤75	≤60	≤50	≤50	≤70	≤60	≤60	≤50	≤50	≤65	≤60	≤55	≤45	≤45	≤60	≤60	≤50	≤45	≤45
Repeatability of positioning accuracy		Arc sec	≤15	≤10	≤10	≤15	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10
Overturning stiffness		x10⁴ N·m /rad	8			15				24					38					95					175
Torsional stiffness		x10⁴ N·m /rad	0.46	0.6		1.07	1.3			1.8	2.3				3.4	4.6				7.6	9.9				14	18.6
Inertia moment	Without brake	kg*m²	3.6*10^-5			7.96*10^-5				8.8*10^-5					2.1*10^-4					8.3*10^-4					1.64*10^-3
Inertia moment	With brake	kg*m²	3.7*10^-5			9.12*10^-5				9.17*10^-5					2.2*10^-4					1.04*10^-3					2.05*10^-3
Mass	Without brake	Kg	1.66			2.2				2.4					3.6					7.4					10.7
Mass	With brake	Kg	2			2.8				2.96					4.2					8.7					12
Number of motor poles		Pole	16			16				16					16					16					16
Ambient conditions			Operating temperature: 0~40℃ Storage temperature: -20~60℃ Operating humidity/Storage humidity: 20~80%RH (no condensation) Vibration resistance: 24.5m/s2 (frequency: 10~400Hz) No dust or metal powder , corrosive gases, flammable gases, oil mist and other indoor use, avoid direct sunlight Below 1000m altitude
Motor insulation			Insulation resistance: more than 100MΩ(DC500V)
			Dielectric strength: AC1500V/ 1 minute
			Insulation class: F
Degrees of Protection			Totally enclosed self-cooled type (IP65)

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