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#ifndef MYACTUATOR_RMD__ACTUATOR_CONSTANTS
#define MYACTUATOR_RMD__ACTUATOR_CONSTANTS
#pragma once
#include <cstdint>
namespace myactuator_rmd {
class X4V2 {
public:
static constexpr float reducer_ratio {10/1};
static constexpr float no_load_speed {300}; // in rpm
static constexpr float rated_speed {250}; // in rpm
static constexpr float rated_current {1.6}; // in A
static constexpr float rated_power {27}; // in W
static constexpr float rated_torque {1}; // in Nm
static constexpr float speed_constant {12.5}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (manufacturer: 0.625) in Nm/A
static constexpr float rotor_inertia {105}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X4V3 {
public:
static constexpr float reducer_ratio {6/1};
static constexpr float no_load_speed {600}; // in rpm
static constexpr float rated_speed {400}; // in rpm
static constexpr float rated_current {3}; // in A
static constexpr float rated_power {80}; // in W
static constexpr float rated_torque {1.2}; // in Nm
static constexpr float speed_constant {200}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (0.4, manufacturer: 0.35) in Nm/A
static constexpr float rotor_inertia {200}; // in gcm2
};
class X4_3 {
public:
static constexpr float reducer_ratio {6/1};
static constexpr float rated_speed {200}; // in rpm
static constexpr float rated_current {2}; // in A
static constexpr float rated_power {30}; // in W
static constexpr float rated_torque {1.5}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (0.75) in Nm/A
static constexpr float rotor_inertia {1200}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X4_24 {
public:
static constexpr float reducer_ratio {36/1};
static constexpr float rated_speed {100}; // in rpm
static constexpr float rated_current {3.5}; // in A
static constexpr float rated_power {150}; // in W
static constexpr float rated_torque {9}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (2.57) in Nm/A
static constexpr float rotor_inertia {6800}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X6V2 {
public:
static constexpr float reducer_ratio {6/1};
static constexpr float no_load_speed {240}; // in rpm (@24V)
static constexpr float rated_speed {190}; // in rpm
static constexpr float rated_current {4}; // in A
static constexpr float rated_power {70}; // in W
static constexpr float rated_torque {3.5}; // in Nm
static constexpr float speed_constant {60}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (manufacturer: 0.88) in Nm/A
static constexpr float rotor_inertia {800}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X6S2V2 {
public:
static constexpr float reducer_ratio {36/1};
static constexpr float no_load_speed {90}; // in rpm (@24V)
static constexpr float rated_speed {70}; // in rpm
static constexpr float rated_current {2.6}; // in A
static constexpr float rated_power {132}; // in W
static constexpr float rated_torque {18}; // in Nm
static constexpr float speed_constant {135}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (manufacturer: 6.92) in Nm/A
static constexpr float rotor_inertia {800}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X6V3 {
public:
static constexpr float reducer_ratio {8/1};
static constexpr float no_load_speed {360}; // in rpm
static constexpr float rated_speed {310}; // in rpm
static constexpr float rated_current {3.6}; // in A
static constexpr float rated_power {135}; // in W
static constexpr float rated_torque {4.5}; // in Nm
static constexpr float speed_constant {62}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (1.25, manufacturer: 0.17) in Nm/A
static constexpr float rotor_inertia {850}; // in gcm2
};
class X6_7 {
public:
static constexpr float reducer_ratio {6/1};
static constexpr float rated_speed {400}; // in rpm
static constexpr float rated_current {4}; // in A
static constexpr float rated_power {150}; // in W
static constexpr float rated_torque {3.5}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (0.875) in Nm/A
static constexpr float rotor_inertia {4800}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X6_8 {
public:
static constexpr float reducer_ratio {8/1};
static constexpr float rated_speed {310}; // in rpm
static constexpr float rated_current {3.6}; // in A
static constexpr float rated_power {135}; // in W
static constexpr float rated_torque {4.5}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (1.25) in Nm/A
static constexpr float rotor_inertia {6800}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X6_40 {
public:
static constexpr float reducer_ratio {36/1};
static constexpr float rated_speed {90}; // in rpm
static constexpr float rated_current {5.2}; // in A
static constexpr float rated_power {170}; // in W
static constexpr float rated_torque {18}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (3.46) in Nm/A
static constexpr float rotor_inertia {28800}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {14};
};
class X8V2 {
public:
static constexpr float reducer_ratio {9/1};
static constexpr float no_load_speed {215}; // in rpm (@48V)
static constexpr float rated_speed {170}; // in rpm
static constexpr float rated_current {4.3}; // in A
static constexpr float rated_power {160}; // in W
static constexpr float rated_torque {9}; // in Nm
static constexpr float speed_constant {40}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (manufacturer: 2.09) in Nm/A
static constexpr float rotor_inertia {2600}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
class X8ProV2 {
public:
static constexpr float reducer_ratio {9/1};
static constexpr float no_load_speed {160}; // in rpm (@48V)
static constexpr float rated_speed {122}; // in rpm
static constexpr float rated_current {5}; // in A
static constexpr float rated_power {166}; // in W
static constexpr float rated_torque {13}; // in Nm
static constexpr float speed_constant {30}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (manufacturer: 2.6) in Nm/A
static constexpr float rotor_inertia {3400}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {20};
};
class X8S2V3 {
public:
static constexpr float reducer_ratio {36/1};
static constexpr float no_load_speed {46}; // in rpm
static constexpr float rated_speed {40}; // in rpm
static constexpr float rated_current {3.2}; // in A
static constexpr float rated_power {110}; // in W
static constexpr float rated_torque {25}; // in Nm
static constexpr float speed_constant {33}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (7.81, manufacturer: 0.30) in Nm/A
static constexpr float rotor_inertia {2670}; // in gcm2
};
class X8HV3 {
public:
static constexpr float reducer_ratio {6.2/1};
static constexpr float no_load_speed {260}; // in rpm
static constexpr float rated_speed {190}; // in rpm
static constexpr float rated_current {3.5}; // in A
static constexpr float rated_power {120}; // in W
static constexpr float rated_torque {6}; // in Nm
static constexpr float speed_constant {33}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (1.71, manufacturer: 0.30) in Nm/A
static constexpr float rotor_inertia {2670}; // in gcm2
};
class X8ProHV3 {
public:
static constexpr float reducer_ratio {6.2/1};
static constexpr float no_load_speed {220}; // in rpm
static constexpr float rated_speed {160}; // in rpm
static constexpr float rated_current {3.75}; // in A
static constexpr float rated_power {135}; // in W
static constexpr float rated_torque {8}; // in Nm
static constexpr float speed_constant {30}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (2.13, manufacturer: 0.29) in Nm/A
static constexpr float rotor_inertia {3400}; // in gcm2
};
class X8_20 {
public:
static constexpr float reducer_ratio {6/1};
static constexpr float rated_speed {190}; // in rpm
static constexpr float rated_current {5.2}; // in A
static constexpr float rated_power {200}; // in W
static constexpr float rated_torque {10}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (1.92) in Nm/A
static constexpr float rotor_inertia {20000}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {20};
};
class X8_25 {
public:
static constexpr float reducer_ratio {9/1};
static constexpr float rated_speed {110}; // in rpm
static constexpr float rated_current {3.2}; // in A
static constexpr float rated_power {125}; // in W
static constexpr float rated_torque {10}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (3.13) in Nm/A
static constexpr float rotor_inertia {30600}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
class X8_60 {
public:
static constexpr float reducer_ratio {36/1};
static constexpr float rated_speed {40}; // in rpm
static constexpr float rated_current {4}; // in A
static constexpr float rated_power {130}; // in W
static constexpr float rated_torque {30}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (7.5) in Nm/A
static constexpr float rotor_inertia {96000}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {20};
};
class X8_90 {
public:
static constexpr float reducer_ratio {18/1};
static constexpr float rated_speed {130}; // in rpm
static constexpr float rated_current {10}; // in A
static constexpr float rated_power {500}; // in W
static constexpr float rated_torque {25}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (2.5) in Nm/A
static constexpr float rotor_inertia {26000}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
class X10V3 {
public:
static constexpr float reducer_ratio {7/1};
static constexpr float no_load_speed {190}; // in rpm
static constexpr float rated_speed {170}; // in rpm
static constexpr float rated_current {5.3}; // in A
static constexpr float rated_power {215}; // in W
static constexpr float rated_torque {12}; // in Nm
static constexpr float speed_constant {30}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (2.26, manufacturer: 0.32) in Nm/A
static constexpr float rotor_inertia {5675}; // in gcm2
};
class X10S2V3 {
public:
static constexpr float reducer_ratio {35/1};
static constexpr float no_load_speed {55}; // in rpm
static constexpr float rated_speed {50}; // in rpm
static constexpr float rated_current {6.7}; // in A
static constexpr float rated_power {265}; // in W
static constexpr float rated_torque {50}; // in Nm
static constexpr float speed_constant {30}; // in rpm/V
static constexpr float torque_constant {rated_torque/rated_current}; // (7.46, manufacturer: 0.32) in Nm/A
static constexpr float rotor_inertia {5675}; // in gcm2
};
class X10_40 {
public:
static constexpr float reducer_ratio {7/1};
static constexpr float rated_speed {165}; // in rpm
static constexpr float rated_current {6.5}; // in A
static constexpr float rated_power {265}; // in W
static constexpr float rated_torque {15}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (2.31) in Nm/A
static constexpr float rotor_inertia {39700}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
class X10_100 {
public:
static constexpr float reducer_ratio {35/1};
static constexpr float rated_speed {50}; // in rpm
static constexpr float rated_current {6.7}; // in A
static constexpr float rated_power {265}; // in W
static constexpr float rated_torque {50}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (7.46) in Nm/A
static constexpr float rotor_inertia {198600}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
class X12_150 {
public:
static constexpr float reducer_ratio {12/1};
static constexpr float rated_speed {100}; // in rpm
static constexpr float rated_current {15}; // in A
static constexpr float rated_power {780}; // in W
static constexpr float rated_torque {50}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (3.33) in Nm/A
static constexpr float rotor_inertia {59000}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
class X15_400 {
public:
static constexpr float reducer_ratio {11.4/1};
static constexpr float rated_speed {80}; // in rpm
static constexpr float rated_current {23}; // in A
static constexpr float rated_power {1500}; // in W
static constexpr float rated_torque {130}; // in Nm
static constexpr float torque_constant {rated_torque/rated_current}; // (5.65) in Nm/A
static constexpr float rotor_inertia {175000}; // in gcm2
static constexpr std::int16_t number_of_pole_pairs {21};
};
}
#endif // MYACTUATOR_RMD__ACTUATOR_CONSTANTS