UFACTORY Joint Parameters

Lite 6

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.0612	0.32	2.55	100	81.6
J2	0.0612	0.32	2.55	100	81.6
J3	0.0678165	0.12	2.55	100	30.6
J4	0.67	0.85	1.6053	1	1.364505
J5	0.67	0.85	1.6053	2.4	3.274812
J6	0.67	0.85	1.6053	1	1.364505

xArm 5 (1304 and earlier versions)

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.0612	0.64	2.55	100	163.2
J2	0.0612	0.64	2.55	100	163.2
J3	0.0612	0.32	2.55	100	81.6
J4	0.0678165	0.12	2.55	100	30.6
J5	0.0678165	0.12	2.55	100	30.6

xArm 6 (1304 and earlier versions)

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.0612	0.64	2.55	100	163.2
J2	0.0612	0.64	2.55	100	163.2
J3	0.0612	0.32	2.55	100	81.6
J4	0.0612	0.32	2.55	100	81.6
J5	0.0678165	0.12	2.55	100	30.6
J6	0.0678165	0.12	2.55	100	30.6

xArm 7 (1304 and earlier versions)

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.0612	0.64	2.55	100	163.2
J2	0.0612	0.64	2.55	100	163.2
J3	0.0612	0.32	2.55	100	81.6
J4	0.0612	0.32	2.55	100	81.6
J5	0.0612	0.32	2.55	100	81.6
J6	0.0678165	0.12	2.55	100	30.6
J7	0.0678165	0.12	2.55	100	30.6

xArm 5 (1305)

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.067	0.955	1.879	100	179.4445
J2	0.067	0.955	1.879	100	179.4445
J3	0.0573	0.46	2	100	92
J4	0.056	0.15	2.04	100	30.6
J5	0.056	0.15	2.04	100	30.6

xArm 6 (1305)

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.067	0.955	1.879	100	179.4445
J2	0.067	0.955	1.879	100	179.4445
J3	0.0573	0.46	2	100	92
J4	0.0573	0.46	1.773	100	81.58
J5	0.056	0.15	2.04	100	30.6
J6	0.15	2.04	100	30.6	0.056

xArm 7 (1305)

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.067	0.955	1.879	100	179.4445
J2	0.067	0.955	1.879	100	179.4445
J3	0.0573	0.46	2	100	92
J4	0.46	2	100	92	0.0573
J5	0.0573	0.46	1.773	100	81.558
J6	0.15	2.04	100	30.6	0.056
J7	0.15	2.04	100	30.6	0.056

UFACTORY 850

Joint	Torque Constant (N·m/A)	Rated Torque (N·m)	Overload Limit	Gear Ratio	Max Torque (N·m)
J1	0.14	1.5	2.55	100	382.5
J2	0.14	1.5	2.55	100	382.5
J3	0.1251	0.955	2.55	100	243.525
J4	0.104286	0.46	2.55	100	117.3
J5	0.10887	0.15	2.55	100	38.25
J6	0.10887	0.15	2.55	100	38.25