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ACW120
Performance parameters		symbol	unit	in parallel
Continuous torque@100℃ ①		Facing	Nm	0.6
Peak torque		Tpk	Nm	2.3
Torque constant ±10%		When	Nm/Arms	0.14
Back EMF constant ±10%		When	Vpeakyrpm	0.012
Motor constant@25℃		Km	Nm/Sqrt[W0	0.10
Phase resistance @25℃±10% ②		R₂5	Oh	1.43
Phase inductance ±20% ③		L	mH	0.47
Electrical time constant		T	ms	0.33
Continuous current @100℃ ①		in	Arms	4.6
Peak current		pk	Arms	16.1
Continuous heat power @100℃ ①		Rn	IN	58.5
Maximum coil temperature		tmax	C	100
Thermal dissipation constant①		Kthn	w/c	0.78
Maximum bus voltage		Exhausted	Vde	330.0
Number of poles		2P	-	16
Maximum speed based on standard axial/radial runout @230VAC ④		Qmax	rpm	400
Maximum speed based on selectable axial/radial runout @230VAC ④		Qmax	rpm	120
Mechanical parameters
Total mass		mn	kg	2.0
Moment of Inertia		-	kg.m	6.580E-04
Axial end runout⑤		-	μm	15(10,5)
Radial end runout⑤		-	μm	15(10,5
Maximum axial load (normal installation) ⑥		-	N	150.0
Maximum axial load (inverted/side mounted)		-	N	15.0
Maximum torque load (normal installation)		-	Nm	14.7
Maximum torque load (inverted/side mounted)		-	Nm	1.47
Encoder parameters
ABI Incremental Optical Encoder (SIN/COS)		-	ines/rev	3934
ABI Incremental Optical Encoder (80x)		-	counts/rev	314720
ABI Incremental Optical Encoder (160x)		-	counts/rev	629,440
ABI Incremental Optical Encoder (400x)		-	counts/rev	1.573,600
Absolute positioning accuracy after error compensation⑦		-	arc seC	+/-8
Repeat positioning accuracy⑦		-	arcsec	+/-4
Additional Information
Green Level		Class A insulation (130°℃
Protection level		IP40
Comply with international standards		RoHS,CE
Ambient temperature	Operating temperature	0℃ to 40℃ (no freezing)
	Storage temperature	-15℃ to 70℃ (no freezing)
Ambient humidity	Operating humidity	Relative humidity 10% to 80% (non-condensing)
	Storage humidity	Relative humidity 10% to 90% (non-condensing)
Recommended working environment		Indoors (no direct sunlight) without corrosive gas, flammable gas, oil or dust

① The ambient temperature during measurement is 25°C, depending on the heat dissipation environment.

② Resistance measurement uses direct current, including 0.5m standard cable.

③ The inductance measurement frequency is 1kHz.

④ The measurement is based on ABI incremental optical encoder (SIN/COS, 4096x) and 330V bus voltage.

⑤ The brackets are optional fine jump levels. Measurements are based on constant load and constant tear.

⑥ For different installation methods, please refer to the installation diagram

⑦ Measurement based on AB1 incremental optical encoder (SIN/CO5,4096x), standard end jump level.

Specifications are subject to change without prior notice.

Torque-speed curve

Dimensions

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Keywords： ACW Series

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Founded in 2013, the company is mainly engaged in a full range of products such as SCARA manipulator, Kawasaki industrial manipulator, palletizing manipulator, handling manipulator, spraying robot, six-axis manipulator, TOYO module, linear sliding table, linear module, servo electric cylinder, etc.

Kunshan Yue Puda Automation Technology Co., Ltd.

Telephone:0512-36684230

Mr. Song:18913288422/Miss Xia:13776301104

Enterprise E-mail:snow@ypd-robot.com

Company Website:www.ypd-robot.com

Address: Building 69, China Energy Saving (Kunshan) Circular Economy Industrial Park, No.5 Ruike Road, Yushan Town, Kunshan City

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