PA85-17-18 is a Motorevo PA-series integrated planetary joint integrating a brushless motor, planetary reducer, dual encoders and an integrated drive. It delivers 33 Nm rated torque, 110 Nm peak torque and up to 160 rpm, with a total weight of 1100 g. It is designed for humanoid robots, quadruped robots and collaborative arms. The standard version does not include a brake. Standard CAN and EtherCAT are supported. Alternative KV versions are available on request.
96 mmDiameter
65 mmThickness
33 NmRated Torque
110 NmPeak Torque
160 rpmPeak Speed
1100 gWeight
Electrical Specifications
Operating Voltage
48 V
Rated Voltage
12-72 V
Rated Torque
33 Nm
Rated Speed
100 RPM
Rated Current
11 A(rms)
Peak Torque (>3s)
110 Nm
Peak Speed
160 RPM
Peak Current
42 A(rms)
Torque Constant
3.06 Nm/A
Back EMF Constant
- Vrms/Krpm
Speed Constant
60 rpm/V
Motor Constant
- Nm/√W
Mechanical Time Constant
- ms
Electrical Time Constant
- ms
Pole Pairs
14
Winding Connection
Star (Y)
Phase Resistance
0.28 Ω
Phase Inductance
0.27 mH
Mechanical Specifications
Diameter
96 mm
Thickness
65 mm
Weight
1100 g
Gear Ratio
18
Backlash
10 Arcmin
Output Bearing
Crossed roller bearing
Backdrive Torque
1.2 Nm
Rotor Inertia
- g·cm²
Axial Load
7.9 kN
Radial Load
3.5 kN
Control & Communication
Control Bandwidth
2000 Hz
Communication
CAN / EtherCAT
Encoder Type
Mechanical dual encoder
Encoder Resolution
14 bit
CAN Interface
XT30(2+2)PW-M
USB Interface
SH1.0-4P
Power Interface
XT30(2+2)PW-M
Control Modes
Servo Mode
✓
Velocity Mode
✓
Torque Mode
✓
Hybrid Force-Position Mode
✓
Protection
Overvoltage Protection
✓
Overcurrent Protection
✓
Overtemperature Protection
✓
Environment & Reliability
Duty Cycle
S2 (short-time duty)
Ingress Protection
IP40 (standard; IP54 optional on request)
Cooling Method
IC410 (self-cooled)
Operating Temperature
-20°C to 50°C
Insulation Class
F
Dielectric Strength
500V 1kHz 1A 1ms
Insulation Resistance
100 MΩ @ 20°C
Temperature Sensor
NTC MF52B 103F3950
Noise
60 dB / 0.5 m
Loading 3D teardown…
The 3D teardown is generated from this model’s diameter, thickness, gear ratio and hollow bore. Orbit, explode and inspect 15 components.
