  Specification | Segment number | Ratio | NFR075 | NFR100 | NFR140 | NFR180 | NFR220 | NFR250 | Rated output torque | Nm | single | 3 | 130 | 220 | 330 | 890 | 1350 | 2380 | 4 | 150 | 300 | 560 | 1100 | 2000 | 3050 | 5 | 160 | 340 | 610 | 1180 | 2050 | 3200 | 6 | 150 | 300 | 600 | 1100 | 1900 | 2850 | 7 | 150 | 290 | 560 | 1000 | 1600 | 2850 | 8 | 130 | 250 | 550 | 960 | 1550 | 2500 | 10 | 110 | 220 | 460 | 950 | 1250 | 1850 | 14 | 150 | 290 | 560 | 1000 | 1600 | 2850 | 16 | 130 | 250 | 550 | 960 | 1550 | 2500 | 20 | 110 | 220 | 460 | 950 | 1250 | 1850 | double | 15 | 130 | 220 | 330 | 890 | 1350 | 2380 | 16 | 150 | 300 | 560 | 1100 | 2000 | 3050 | 20 | 150 | 300 | 560 | 1100 | 2000 | 3050 | 25 | 160 | 340 | 610 | 1180 | 2050 | 3200 | 30 | 150 | 300 | 600 | 1100 | 1900 | 2850 | 35 | 150 | 300 | 560 | 1000 | 1700 | 2850 | 40 | 130 | 250 | 560 | 950 | 1600 | 2750 | 45 | — | — | 460 | — | — | — | 50 | 160 | 310 | 610 | 1180 | 2000 | 3100 | 60 | 150 | 300 | 560 | 1050 | 1700 | 2850 | 70 | 150 | 290 | 560 | 1000 | 1600 | 2800 | 80 | 130 | 250 | 550 | 950 | — | — | 100 | 110 | 220 | 460 | 950 | 1250 | 1850 | 120 | 150 | 300 | 600 | 1100 | 1900 | 2850 | 140 | 150 | 290 | 560 | 1000 | 1600 | 2850 | 160 | 130 | 250 | 550 | 960 | 1550 | 2500 | 200 | 110 | 220 | 460 | 950 | 1250 | 1850 | Rotary inertia | Kg.cm3 | single | 3 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 280.86 | 4 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 280.86 | 5 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 280.86 | 6 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 280.86 | 7 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 280.86 | 8 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 280.86 | 10 | 2.25 | 6.84 | 23.40 | 68.90 | 145.82 | 270.07 | 14 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 | 270.07 | 16 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 | 270.07 | 20 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 | 270.07 | double | 15 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 16 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 20 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 25 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 30 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 35 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 40 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 45 | — | — | 6.84 | — | — | — | 50 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 60 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 70 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 80 | 0.35 | 2.25 | 6.84 | 23.40 | — | — | 100 | 0.35 | 2.25 | 6.84 | 23.40 | 68.90 | 152.09 | 120 | 0.31 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 | 140 | 0.31 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 | 160 | 0.31 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 | 200 | 0.31 | 1.87 | 6.25 | 21.80 | 65.60 | 145.82 |       Parameters Table | Segment number | Ratio | NFR075 | NFR100 | NFR140 | NFR180 | NFR220 | NFR250 | Max acceleration torque | Nm | 1,2 | 3~200 | 1.8 times rated output torque | Emergency stop torque | Nm | 1,2 | 3~200 | 3 times rated output torque | Rated input speed | rmp | 1 | 3~20 | 4000 | 4000 | 3000 | 3000 | 2000 | 1500 | 2 | 15~200 | 4500 | 4000 | 3000 | 3000 | 2000 | 2500 | Max input speed | rmp | 1 | 3~20 | 8000 | 8000 | 6000 | 6000 | 4000 | 2500 | 2 | 15~200 | 8000 | 8000 | 6000 | 6000 | 4000 | 4000 | Ultraprecise backlash | arcmin | 1 | 3~20 | ≤2 | ≤2 | ≤2 | ≤2 | ≤2 | ≤2 | 2 | 15~200 | ≤4 | ≤4 | ≤4 | ≤4 | ≤4 | ≤4 | Precise backlash | arcmin | 1 | 3~20 | ≤4 | ≤4 | ≤4 | ≤4 | ≤4 | ≤4 | 2 | 15~200 | ≤7 | ≤7 | ≤7 | ≤7 | ≤7 | ≤7 | Standard backlash | arcmin | 1 | 3~20 | ≤6 | ≤6 | ≤6 | ≤6 | ≤6 | ≤6 | 2 | 15~200 | ≤9 | ≤9 | ≤9 | ≤9 | ≤9 | ≤9 | Orsional rigidity | Nm/arcmin | 1,2 | 3~200 | 14 | 31 | 57 | 182 | 400 | 580 | Max. radial Force | N | 1,2 | 3~200 | 4800 | 9450 | 15200 | 23000 | 34000 | 58000 | Max. axial Force | N | 1,2 | 3~200 | 3800 | 6250 | 12000 | 14500 | 23000 | 59000 | Tilting moment | Nm | 1,2 | 3~200 | 365 | 990 | 1900 | 2870 | 5550 | 8500 | Service Life | hr | 1,2 | 3~200 | 20000hr(continuous operation 10000hr) | Efficiency | % | 1 | 3~20 | ≥95% | % | 2 | 15~200 | ≥92% | Weight | kg | 1 | 3~20 | 6.4 | 13.9 | 23.7 | 50.0 | 83.0 | 100.3 | kg | 2 | 15~200 | 7.8 | 15.1 | 26.7 | 54.0 | 95.0 | 125.3 | Operating Temperature | ℃ | 1,2 | 3~200 | -10℃-90℃ | Lubrication | | 1,2 | 3~200 | Synthetic grease | Protection Class | | 1,2 | 3~200 | IP65 | Mounting Position | | 1,2 | 3~200 | Any direction | Noise Level (N1=3000rpm,Non-Loaded) | dB(A) | 1 | 3~20 | ≤65 | ≤68 | ≤70 | ≤72 | ≤74 | ≤75 | 2 | 15~200 | ≤65 | ≤68 | ≤70 | ≤72 | ≤74 | ≤75 | |