| Model |  PA40-1 |
 PA40-2 |
 PA100 |
|
|---|---|---|---|---|
| Basic Performance | ||||
| Rated torque (Nm) | 9 | 6 | 96 | |
| Allowable max torque for start/stop (Nm) | 18 | 18 | 288 | |
| Allowable max instantaneous torque (Nm) | 27 | 18 | 288 | |
| Rated speed (rpm) | 61 | 28 | 66.7 | |
| Max speed (rpm) | 79 | 35 | 86.7 | |
| Positioning accuracy (deg) | +/-0.01 | |||
| Electrical Performance | ||||
| Rated Power（W） | 79 | 17 | 837 | |
| Rated voltage（VDC） | 48 | 48 | 48 | |
| Rated current（A） | 7 | 3 | 20 | |
| Peak current（A） | 22 | 12 | 62 | |
| Communication Protocol | EtherCAT,CiA402 | |||
| Mechanical Performance | ||||
| Through hole diameter (mm) | Null | Null | Null | |
| Gear ratio | 36 | 36 | 30 | |
| Encoder | Dual absolute magnetic encoder, output resolution 21Bits | |||
| IP classification | IP54 | |||
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Welding
Palletizing
Screwdriving
Machine tending
Glue
Vision inspection
Fluctuating force control test
