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Technical Drawing
RI50 without hall sensor
RI50 with hall sensor
The RI50 KV100 is a frameless inrunner torque motor from CubeMars’ RI series, engineered for applications where space is limited but rapid response and high dynamics are essential—such as robotic joints, exoskeletons, collaborative robot arms, and AGV hub drives. Featuring high torque density, ultra-low cogging torque, and an exceptionally small form factor, it delivers outstanding dynamic performance and exceptional mechanical integration flexibility.
Motor Dimensions
Φ54 × 27 mm
Hollow Shaft Diameter
22 mm
Weight
180.8 g
Peak Torque
1.67 N·m
No-Load Speed
4008 rpm @ 48 V
High Torque Density
Continuous torque of ~0.58 N·m and peak torque of ~1.67 N·m meet the output and responsiveness requirements of lightweight robotic joints and modular actuators
Low Cogging Design
Optimized electromagnetic structure minimizes cogging torque, enabling smoother motion and higher control precision
Frameless Architecture
Supplied as separate rotor and stator components, allowing users to customize mounting structures and flexibly integrate with gears, flanges, or bearings
Compact & Lightweight
Weighing only ~180.8 g with an outer diameter of Φ54 mm and length of 27 mm, ideal for highly constrained spatial layouts
RI50 without hall sensor
RI50 with hall sensor
| Application | Cobot Arm/Exoskeleton | Insulation Class | C |
| Driving Way | FOC | Insulation High-Voltage | 500V 5mA/2s |
| Operation Ambient Temperature | -20℃~50℃ | Insulation Resistance | 500V 10MΩ |
| Winding Type | Star | Phase | 3 |
| Pole Pairs | 7 | ||
| Electric Parameters | |||
| Rated Voltage（V） | 24/36/48 | Ke（V/krpm） | 11.41 |
| No-Load Speed（rpm） | 2004/3006/4008 | Phase To Phase Resistance（mΩ） | 1420 |
| Rated Torque（Nm） | 0.58 | Phase To Phase Inductace（μH） | 1500 |
| Rated Speed（rpm） | 1090/1860/2600 | Inertia（gc㎡） | 22.8 |
| Rated Current（ADC） | 4.8 | Km（Nm/√W） | 0.1007 |
| Peak Torque（Nm） | 1.67 | Mechanical Time Constant（ms） | 0.22 |
| Peak Current（ADC） | 14.8 | Electrical Time Constant（ms） | 1.06 |
| Kv（rpm/V） | 100 | Weight（g） | 180.8 |
| Kt（Nm/A） | 0.120 | Maximum Torque Weight Ratio（Nm/Kg） | 9.24 |
| Connector | |||
| U | Black+18#Silicone Wire | Hv | Green+30#Silicone Wire |
| V | Yellow+18#Silicone Wire | Hw | Yellow+30#Silicone Wire |
| W | Red+18#Silicone Wire | VCC GND | Red+30#Silicone Wire Black+30#Silicone Wire |
| Hu | Blue+30#Silicone Wire | Correspondence | Hu-U Hv-V Hw-W |
| category | Model | Rated Voltage (V) | Rated Power (W) | Rated Torque (Nm) | Rated Current (A) | Rated Speed (RPM) | Peak Torque (Nm) | Peak Current (A) | No-load Speed (RPM) | Phase to Phase Resistance (mΩ) | Phase to Phase Inductance (μH) | Pole Pairs | Weight (G) | Size (diameter *length) MM | Operation |
| RI Potting Series | RI115-PH KV40 With Connector | 48 | 823 | 5.5 | 20 | 1430 | 16 | 52 | 1920 | 134 | 245 | 20 | 1108 | Ф115*42 |  |
| RI Potting Series | RI115-PH KV40 Welded Model | 48 | 823 | 5.5 | 20 | 1430 | 16 | 52 | 1920 | 134 | 245 | 20 | 1108 | Ф115*41 | |
| RI Potting Series | RI85-PH KV85 With Connector | 48 | 637 | 2 | 16 | 3042 | 5 | 44 | 4080 | 138.5 | 239.4 | 14 | 411 | Ф85*32 | |
| RI Potting Series | RI85-PH KV85 Welded Model | 48 | 637 | 2 | 16 | 3042 | 5 | 44 | 4080 | 138.5 | 239.4 | 14 | 411 | Ф85*31.5 | |
| RI Potting Series | RI75-PH KV70 With Connector | 48 | 297 | 1.2 | 7.28 | 2365 | 3.8 | 24.2 | 3360 | 495 | 673 | 14 | 348 | Ф70*36.2 | |
| RI Potting Series | RI75-PH KV70 Welded Model | 48 | 297 | 1.2 | 7.28 | 2365 | 3.8 | 24.2 | 3360 | 495 | 673 | 14 | 348 | Ф70*34 | |
| RI Frameless Series | RI100 KV105 | 24/36/48 | 252 | 1.76 | 13.6 | 1370/2100/2825 | 4.95 | 38.6 | 2184/3276/4368 | 126 | 366.7 | 14 | 500 | Ф104*26 | |
| RI Frameless Series | RI80 V2.0 KV75 | 24/36/48 | 172 | 1.45 | 9.4 | 1135/1785/2430 | 4.1 | 9.4 | 1480/2220/2960 | 330 | 510 | 8 | 411 | Ф85*27 | |
| RI Frameless Series | RI70 KV95 | 24/36/48 | 125 | 0.94 | 7.1 | 1270/1990/2710 | 2.68 | 21 | 1956/2934/3912 | 418 | 622.7 | 14 | 270.4 | Ф76*24 | |
| RI Frameless Series | RI60 KV120 | 24/36/48 | 85 | 0.57 | 5.6 | 1440/2320/3190 | 1.63 | 16.8 | 2532/3798/5064 | 900 | 877.5 | 14 | 155.9 | Ф60*23 | |
| RI Frameless Series | RI50 KV100 | 24/36/48 | 66 | 0.58 | 4.8 | 1090/1860/2600 | 1.67 | 14.8 | 2004/3006/4008 | 1420 | 1500 | 7 | 180.8 | Ф54*27 | |
| RI Frameless Series | RI30 KV260 | 24 | 33 | 0.076 | 1.98 | 4110 | 0.23 | 7.72 | 6240 | 2.2 | 1.41 | 7 | 40g | φ38*14 | |
| RI Frameless Series | RI20 KV600 | 16 | 18 | 0.024 | 1.47 | 7452 | 0.072 | 4.4 | 9600 | 1.89 | 0.45 | 7 | 20g | φ25*14.5 | |
