HexFellow HEXSENSE-Y200 IMU Version:HEXSENSE-Y200 Parameter Value Model GB5215 Nominal

Parameter Value Model GB5215 Nominal Voltage 24V Nominal Torque 0

09 sec/60° Stall torque (at locked) 39 kg·cm 47 kg·cm 55 kg·cm 61 kg·cm Stall current (at locked) 3

Power Current 230mA

Parameter Value Value Value Value Model CS-32-I CS-32-I CS-32-I CS-32-I Transmission Ratio 50 80 100 120 Rated Torque at 2000r/min input 76 Nm 118 Nm 137 Nm 152 Nm Peak Torque allowed during start/stop 216 Nm 304 Nm 333 Nm 353 Nm Maximum allowable average load torque 108 Nm 167 Nm 216 Nm 240 Nm Instantaneous Maximum Torque 382 Nm 568 Nm 647 Nm 686 Nm Maximum allowable input speed 4800 rpm 4800 rpm 4800 rpm 4800 rpm Allowable average speed 3500 rpm 3500 rpm 3500 rpm 3500 rpm Moment of inertia 1

FCD-20-XXX-AJ--Product_structure_diagram

HexFellow HEXSENSE-Y200 IMU Version:HEXSENSE-Y200 Parameter Value Model GB5215 NominalApplication Scenarios Humanoid Robots Robotic Arms Exoskeletons Quadruped Robots AGV Vehicles ARU Robots Technical Specifications Parameter Value Note Gyro Parameters Range 2000 s Non linearity 0. 05%FS Noise Density 0. 015 s Hz Bias Instability 5 h Allan variance, 1 Bandwidth ( 3dB) 50Hz Zero Offset 0. 5 s 1 RMS Temperature Drift 1 s 1 RMS, 40~85C Accelerometer Parameters Range 12g Non linearity 0. 5%FS Noise Density 190g Hz Bias Instability 0. 05mg