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| Motor model | HMS130-M08030-F | HMS130-M12030-F | HMS130-M15015-F |
| Motor frame(mm) | 130 | 130 | 130 |
| Rated voltage(V) | 220 | 220 | 220 |
| Rated power (KW) | 1.3 | 1.8 | 2.3 |
| Rated current (A) | 8.4 | 10 | 10 |
| Rated speed (rpm) | 1500 | 1500 | 1500 |
| Rated torque (N.M) | 8.34 | 11.5 | 15 |
| Peak speed(rpm) | 3000 | 3000 | 2000 |
| Instantaneous maximum current(A) |
25.2 | 25 | 20 |
| Instantaneous maximum torque(N.M) |
22.8 | 28.7 | 30 |
| Torque coefficient | 1 | 1 | 1.5 |
| Back EMF (V/1000r/m) | 62.7 | 70 | 95 |
| Environmental temperature for use |
-20°C-50°C | -20°C-50°C | -20°C-50°C |
| Winding wire resistance (Ω) |
0.95 | 0.98 | 1.69 |
| Phase Q-axis inductance (mh) |
7.6 | 7.6 | 11.6 |
| Phase D-axis inductance (ms) |
8 | 8 | 6.86 |
| Number of pole pairs | 5 | 5 | 5 |
| Number of encoder lines |
17 bit | 17 bit | 17 bit |
| Rotor inertia(Kg.m2) | 19.9X10-4Kg.m2 | 23X10-4Kg.m2 | 27X10-4Kg.m2 |
| Pressure resistance |
1500V 5s | 1500V 5s | 1500V 5s |
| Insulation resistance |
500V ≥20MΩ | 500V ≥20MΩ | 500V ≥20MΩ |
| Protection grade | IP65 | IP65 | IP65 |
| Insulation Class | CLASS F | CLASS F | CLASS F |
| Weight | 5.77kg | 8.9kg | 8.7kg |
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