  Specification | Segment number | Ratio | NB042 | NB060 | NB090 | NB115 | NB142 | NB180 | NB220 | Rated output torque | Nm | single | 3 | — | 50 | 120 | 190 | 320 | 550 | 1080 | 4 | 18 | 45 | 130 | 270 | 510 | 990 | 1610 | 5 | 20 | 55 | 150 | 310 | 610 | 1140 | 1900 | 6 | 18 | 50 | 140 | 290 | 570 | 1040 | 1800 | 7 | 18 | 45 | 130 | 280 | 520 | 1040 | 1710 | 8 | 16 | 40 | 110 | 240 | 470 | 950 | 1520 | 9 | 13 | 35 | 95 | 210 | 420 | 850 | 1250 | 10 | 13 | 35 | 95 | 210 | 420 | 850 | 1250 | double | 15 | — | 50 | 120 | 190 | 320 | 550 | 1080 | 16 | 19 | — | — | — | — | — | — | 20 | 18 | 45 | 130 | 270 | 510 | 990 | 1610 | 25 | 20 | 55 | 150 | 310 | 610 | 1140 | 1900 | 30 | 19 | 50 | 140 | 290 | 570 | 1040 | 1800 | 35 | 18 | 45 | 130 | 280 | 520 | 1040 | 1710 | 40 | 16 | 40 | 110 | 240 | 470 | 950 | 1520 | 45 | 13 | 35 | 95 | 210 | 420 | 850 | 1420 | 50 | 20 | 55 | 150 | 310 | 610 | 1140 | 1900 | 60 | 19 | 50 | 140 | 290 | 570 | 1040 | 1800 | 70 | 18 | 45 | 130 | 280 | 520 | 1040 | 1710 | 80 | 16 | 40 | 110 | 240 | 470 | 950 | 1520 | 90 | 13 | 35 | 95 | 210 | 420 | 850 | 1250 | 100 | 13 | 35 | 95 | 210 | 420 | 850 | 1250 | Rotary inertia | Kg.cm3 | single | 3 | — | 0.16 | 0.61 | 3.25 | 9.21 | 28.98 | 69.61 | 4 | 0.03 | 0.14 | 0.48 | 2.74 | 7.54 | 23.67 | 54.37 | 5 | 0.03 | 0.13 | 0.47 | 2.71 | 7.42 | 23.29 | 53.27 | 6 | 0.03 | 0.13 | 0.45 | 2.65 | 7.25 | 22.75 | 51.72 | 7 | 0.03 | 0.13 | 0.45 | 2.62 | 7.14 | 22.48 | 50.97 | 8 | 0.03 | 0.13 | 0.44 | 2.58 | 7.07 | 22.59 | 50.84 | 9 | 0.03 | 0.13 | 0.44 | 2.57 | 7.04 | 22.53 | 50.63 | 10 | 0.03 | 0.13 | 0.44 | 2.57 | 7.03 | 22.51 | 50.56 | double | 15 | — | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 16 | 0.03 | — | — | — | — | — | — | 20 | 0.03 | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 25 | 0.03 | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 30 | 0.03 | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 35 | 0.03 | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 40 | 0.03 | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 45 | 0.03 | 0.13 | 0.47 | 0.47 | 2.71 | 7.42 | 23.29 | 50 | 0.03 | 0.13 | 0.44 | 0.44 | 2.57 | 7.03 | 22.51 | 60 | 0.03 | 0.13 | 0.44 | 0.44 | 2.57 | 7.03 | 22.51 | 70 | 0.03 | 0.13 | 0.44 | 0.44 | 2.57 | 7.03 | 22.51 | 80 | 0.03 | 0.13 | 0.44 | 0.44 | 2.57 | 7.03 | 22.51 | 90 | 0.03 | 0.13 | 0.44 | 0.44 | 2.57 | 7.03 | 22.51 | 100 | 0.03 | 0.13 | 0.44 | 0.44 | 2.57 | 7.03 | 22.51 |        Parameters Table | Segment number | Ratio | NB042 | NB060 | NB090 | NB115 | NB142 | NB180 | NB220 | Max acceleration torque | Nm | 1,2 | 1.8 times rated output torque | Emergency stop torque | Nm | 1,2 | 3 times rated output torque | Rated input speed | rmp | 1 | 3~10 | 5000 | 5000 | 4000 | 4000 | 3000 | 3000 | 2000 | 2 | 15~100 | 5000 | 5000 | 4000 | 4000 | 3000 | 3000 | 2000 | Max input speed | rmp | 1 | 3~10 | 10000 | 10000 | 8000 | 8000 | 6000 | 6000 | 4000 | 2 | 15~100 | 10000 | 10000 | 8000 | 8000 | 6000 | 6000 | 4000 | Ultraprecise backlash | arcmin | 1 | 3~10 | — | — | ≤1 | ≤1 | ≤1 | ≤1 | ≤1 | 2 | 15~100 | — | — | — | ≤3 | ≤3 | ≤3 | ≤3 | Precise backlash | arcmin | 1 | 3~10 | ≤3 | ≤3 | ≤3 | ≤3 | ≤3 | ≤3 | ≤3 | 2 | 15~100 | ≤5 | ≤5 | ≤5 | ≤5 | ≤5 | ≤5 | ≤5 | Standard backlash | arcmin | 1 | 3~10 | ≤5 | ≤5 | ≤5 | ≤5 | ≤5 | ≤5 | ≤5 | 2 | 15~100 | ≤7 | ≤7 | ≤7 | ≤7 | ≤7 | ≤7 | ≤7 | Orsional rigidity | Nm/arcmin | 1,2 | 3~100 | 3.2 | 8 | 14 | 27 | 52 | 148 | 305 | Max. radial Force | N | 1,2 | 3~100 | 980 | 1730 | 3250 | 7000 | 9600 | 14500 | 27800 | Max. axial Force | N | 1,2 | 3~100 | 490 | 865 | 1625 | 3500 | 4800 | 7250 | 13900 | Tilting moment | Nm | 1,2 | 3~100 | 34 | 77 | 152 | 325 | 530 | 920 | 1840 | Service Life | hr | 1,2 | 3~100 | 20000hr(continuous operation 10000hr) | Efficiency | % | 1 | 3~10 | ≥97% | % | 2 | 15~100 | ≥94% | Weight | kg | 1 | 3~10 | 0.6 | 1.3 | 3.7 | 7.8 | 14.5 | 29.0 | 48.0 | kg | 2 | 15~100 | 0.8 | 1.9 | 5.3 | 9.0 | 17.5 | 33.0 | 60.0 | Operating Temperature | ℃ | 1,2 | 3~100 | -10℃-90℃ | Lubrication | | 1,2 | 3~100 | Synthetic grease | Protection Class | | 1,2 | 3~100 | IP65 | Mounting Position | | 1,2 | 3~100 | Any direction | Noise Level (N1=3000rpm,Non-Loaded) | dB(A) | 1 | 3~10 | ≤56 | ≤58 | ≤60 | ≤63 | ≤65 | ≤67 | ≤70 | 2 | 15~100 | ≤56 | ≤60 | ≤63 | ≤63 | ≤65 | ≤67 | ≤70 | | | | 3 | — | 0.16 | 0.61 | 3.25 | 9.21 | 28.98 | 69.61 | |