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LZ9025

Mechanical Parameters

Weight: 1420g±20g

Number of Poles: 42 poles

Number of Phases: 3 phases

Drive Method: FOC (Field-Oriented Control)

Reduction Ratio: 10:1

Product Advantages

Full Hardware FOC Technology, Chip-Level FPGA Development

Hollow Cabling

Triple-Loop Control with All Frequencies at 20KHz for Fast Response

etherCat/canOpen Bus

16-bit ADC with 1MHz Sampling Rate

Power-Off Brake

Core Product Technologies

The core technology of the product lies in the harmonic integrated joint module, featuring a drive-control integrated design. The inner rotor structure enables hollow cabling, while diversified model options including 11, 14, 17, 20, 25, 32 and 40 series ensure flexible applications. With a compact and miniaturized profile and low power consumption, it adopts a pin-type brake mechanism that triggers mechanical locking instantly upon power loss, with an action time of less than 10ms.

The dual steel wheel design, integrating cross-roller bearings with steel wheels, reduces axial space occupation. By meshing two steel wheels with one flexspline, it mitigates stress from flexspline deformation, achieving smooth operation, high efficiency and positioning accuracy up to 20 arcseconds.

Performance Curve

Model	LZ4610N Non-hollow	LZ4605N Non-hollow	LZ5710N Non-hollow	LZ5740N Non-hollow	LZ5736N Non-hollow	LZ807.75N Non-hollow	LZ8025CN Non-hollow	LZ10028CH Hollow-shaft	LZ12028CH Hollow-shaft
Reducer Type	Planetary	Planetary	Planetary	Planetary	Planetary	Planetary	Planetary	Planetary	Planetary
Drive&Control Method	FOC	FOC	FOC	FOC	FOC	FOC	FOC	FOC	FOC
Dimensions Diameter × Height (mm)	Φ46×38	Φ46×38	Φ57×46	Φ57×60	Φ57×70	Φ80×47	Φ80×60.5	Φ100×68	Φ120×80
Gear Ratio	10	5	10	40	36	7.75	25	28	28
Rated Torque (N・m)	0.85Nm	0.4Nm	3.4Nm	12Nm	29Nm	7.75Nm	27Nm	67.5Nm	126Nm
peak torque (N・m)	2.55Nm	1.2Nm	10.2Nm	36Nm	80Nm	23.2Nm	81Nm	200Nm	378Nm
Magnetic Encoder	Dual Encoder	Dual Encoder	Dual Encoder	Dual Encoder	Dual Encoder	Dual Encoder	Dual Encoder	Dual Encoder	Dual Encoder
rated power (W)	83	30	94	94	300	400	380	733	1570
Rated Voltage (V)	DC48V	DC48V	DC48V	DC48V	DC48V	DC48V	DC48V	DC48V	DC48V
Communication Mode	CAN/CANFD	CAN/CANFD	CAN/CANFD	CAN/CANFD	CAN/CANFD	CAN/CANFD	CAN/CANFD	CANFD/Ether CAT	CANFD/Ether CAT
Operating Temperature Range (°C)	-20~60°C	-20~60°C	-20~60°C	-20~60°C	-20~60°C	-20~70°C	-20~70°C	-20~80°C	-20~80°C
Insulation Class	Class B	Class B	Class B	Class B	Class B	Class B	Class B	Class B	Class B
No-load Speed (rpm)	110	220	210	112	130	645	156	143	140
Rated Speed (rpm)	80	160	140	80	100	516	120	110	107
Rated Current (Apk)	1.3	4.5	3	6	8	10.4	10.7	22	41.6
Peak Current (Apk)	3.8	13.5	9	9	16	20.8	30	66	83.2
Backlash (arcmin)	≤7arcmin	≤7arcmin	≤7arcmin	≤1arcmin	≤1arcmin	≤1arcmin	≤1arcmin	≤1arcmin	≤1arcmin
Back-EMF Constant	1.54V/krpm	1.54V/krpm	7.1V/krpm	7.1V/krpm	7.52V/krpm	0.1528Vs/Rad	7.45Vrms/krpm	9Vrms/krpm	8V/krpm
Torque Constant	0.025Nm/A	0.025Nm/A	0.1Nm/A	0.1Nm/A	0.124Nm/A	0.09143Nm/A	0.15Nm/A	0.15Nm/A	0.12Nm/A
Stage Count	10	10	28	28	28	28	28	42	42
Coil Connection	Star connection	Star connection	Star connection	Star connection	Star connection	Star connection	Star connection	Delta Connection	Delta Connection
Bearing type	Ball Bearing	Ball Bearing	Ball Bearing	Ball Bearing	Ball Bearing	Cross roller bearings	Cross roller bearings	Cross roller bearings	Cross roller bearings
Working Noise (dB)	≤55	≤55	≤55	≤58	≤60	≤65	≤65	≤65	≤70
Weight (g)	150	150	300	360	450	430	850	1550	2270
Phases Number	3	3	3	3	3	3	3	3	3

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Hangzhou Liangzhi Joint Technology Co., Ltd.