| Dimensions | R83*78.8mm |
| Mass | 1.26kg |
| Reduction Ratio | 101:1 |
| Output Speed (RPM) | 30RPM |
| Nominal Torque | 53Nm |
| Peak Torque | 120Nm |
| Backlash | 30 arcsec |
| Nominal Voltage | 48V |
| Nominal Power | 288W |
| Motor Nominal Speed (RPM) | 3000 |
| Nominal Current | 6A |
| Peak Current | 15.9A |
| Encoder Specs | Dual Encoder, 19bit |
| Communication Protocol(Optional) | EtherCAT/CANOpen/CANFD |
| Control Loop Frequency | Current: 20KHz, Vel: 10KHz |
| Application in Robotics | Shoulder/Elbow/Knee/Waist |