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Table of max. torque values for the different joint sizes.
Note that it is the joint itself that has these torque values. You cannot use the full value in your application.
If the robot is mounted on a vertical plane the robot has to lift itself and still operate within the limits of the safety force.
You cannot exceed the safety force limits of the robot in your application even if the robot has more power.
|Size 0||12 Nm|
|Size 1||28 Nm|
|Size 2||56 Nm|
|Size 3||150 Nm|
|Size 4||330 Nm|
|Wrist 3||Size 0||Size 1||Size 2||Size 2|
|Wrist 2||Size 0||Size 1||Size 2||Size 2|
|Wrist 1||Size 0||Size 1||Size 2||Size 2|
|Elbow||Size 1||Size 3||Size 3||Size 3|
|Shoulder||Size 2||Size 3||Size 4||Size 4|
|Base||Size 2||Size 3||Size 4||Size 4|