Frame Size | RX60 | RX90 | RX115 |
 | Ratio | Units |  |  |  |
| Nominal Output Torque, Tnom r | 5 | Nm | 7 | 17 | 45 |
in lb | 58 | 149 | 484 |
10 | Nm | 13 | 33 | 88 |
in lb | 112 | 292 | 484 |
15-25 | Nm | 20 | 51 | 129 |
in lb | 175 | 451 | 1,238 |
30-100 | Nm | 17 | 51 | 115 |
in lb | 149 | 451 | 1,323 |
Max. Acceleration Output Torque,
Tacc r | 5 | Nm | 8 | 20 | 53 |
in lb | 69 | 175 | 587 |
10 | Nm | 16 | 40 | 101 |
in lb | 138 | 350 | 1,140 |
15-100 | Nm | 22 | 61 | 156 |
in lb | 196 | 536 | 1,748 |
Emergency Stop Output Torque, Tem r
(1000 Cycles) | 5 | Nm | 19 | 46 | 122 |
in lb | 165 | 409 | 1,362 |
10 | Nm | 46 | 92 | 237 |
in lb | 409 | 812 | 2,653 |
15-100 | Nm | 67 | 139 | 359 |
in lb | 594 | 1,232 | 4,022 |
| Nominal Input Speed, Nnom r | 5, 10 | RPM | 3,200 | 2,800 | 2,400 |
15-40 | RPM | 3,700 | 3,300 | 2,900 |
50-100 | RPM | 4,200 | 3,800 | 3,400 |
| Max. Input Speed, Nmax r | 5-100 | RPM | 6,000 | 5,300 | 4,500 |
| Standard Backlash | 5, 10 | arc min | 22 | 20 | 20 |
15-100 | arc min | 20 | 18 | 18 |
| Low Backlash | 5, 10 | arc min | 18 | 16 | 16 |
15-100 | arc min | 16 | 14 | 14 |
| Efficiency at Nominal Torque | 5-100 | % | 94 | 94 | 94 |
| Noise Level(2) at: 3,000 RPM | 5-100 | dB | 70 | 70 | 70 |
| Torsional Stiffness | 5-100 | Nm / arc min | 2.5 | 9.5 | 18.5 |
in lb / arc min | 22 | 84 | 164 |
| Maximum Weight | 5-100 | kg | 2.01 | 5.74 | 11.35 |
lb | 4.42 | 12.65 | 25 |
| Maximum Allowable Case Temperature | 5-100 | oC | -10 degree C to
100 degree C |