DC Motor Specification θ(s) KT E(s)s[LJs2+(Lob+RJ)s+Rb+KK] 148866 148867 148877 Motor Data Vafues at nominal voltage 1 Nominal voltage V 12.0 24.0 48.0 0(s) Km 2 No load speed rpm 6920 7580 7580 3 No load current mA 241 137 68.6 E(s) s[Ts+1] 4 Nominal speed rpm 6370 6930 7000 5 Nominal torque(max.continuous torque) mNm 94.9 170 184 6 Nominal current(max.continuous current) A 6.00 5.77 3.12 Km三 K 7 Stall torque mNm 1680 2280 2500 (Rb+KK) 8 Starting current A 102 75.7 41.4 9 Max.efficiency % 88 91 92 Characteristics RJ 10 Terminal resistance 2 0.117 0.317 1.16 Tm云 11 Terminal inductanc mH0.0245 0.0823 0.329 (Rb+KK) 12 Torque constant mNm/A 16.4 30.2 60.3 3 Speed constant rpm/V 581 317 158 Speed torque g/adient rpm/mNm 4.15 3.33 3.04 15 Mechanical timg constant ms 6.03 4.81 4.39 16 Rotor inertia gcm2 139 138 138DC Motor Specification ( ) [ 1 ] ( )   s T s K E s s m m a  ( ) T m a b K K R b KK   ( ) a m a Tb R J T Rb K K   2 ( ) () [ ( ) ] T a a a a a Tb s K E s s L Js L b R J s R b K K     