CubeMars RI60 KV120 Frameless Inrunner Torque Motor | 0.57Nm, 120KV, 48V BLDC for Cobot & Exoskeleton

Overview

The CubeMars RI60 KV120 Frameless Inrunner Torque Motor is designed for compact, high-performance robotic applications. Supporting 24V/36V/48V operating voltages, this frameless BLDC motor delivers high torque density, smooth low-cogging motion, and precise 0.01° control resolution. With a compact outer diameter of Φ60mm and weight of just 155.9g, it's ideal for cobot arms, exoskeletons, and robotic joints with tight space constraints.

This motor features a hand-wound stator for optimal copper fill factor, curved permanent magnets for efficient sinusoidal BEMF response, and options for hall sensor and encoder integration. It supports Field-Oriented Control (FOC), operates reliably from -20°C to 50°C, and withstands up to 1.63 Nm peak torque. The heightened rotor version enhances hall sensor accuracy by increasing detection range by 2mm.

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Key Features

• Frameless Inrunner BLDC Design – No outer housing, ideal for embedded installations

• High Torque Density – Max torque-to-weight ratio of 10.46 Nm/kg

• Precision Control – Compatible with high-resolution encoders, supports 0.01° positioning

• Low Cogging Torque – Smooth operation, reduced vibration, and noise

• Temperature Tolerant – Operates in ambient temps from -20°C to 50°C

• Multiple Control Interfaces – Supports encoder and hall sensor feedback

• Hand-Wound Stator – Excellent copper fill, 0.5mm edge clearance for easy assembly

• Optional Rotor Version – +2mm rotor height improves hall sensor alignment

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Technical Specifications

Application & Configuration

Electrical Characteristics

Encoder & Hall Sensor Options

• With Hall Sensor: Improved rotor sensing, recommended for high-accuracy position detection

• Without Hall Sensor: Compact design for constrained environments

• Supported Encoders: Renishaw, Sick, other high-precision encoders (0.01° resolution)

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Mechanical Dimensions

Refer to technical drawings for exact tolerances and mounting hole patterns.

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Performance Curve

Tested at 24VDC:

• Max efficiency at ~0.3 Nm

• Peak output power >125W at ~1.1 Nm

• Max speed ~2500 RPM

• Stable current response across torque range

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Wiring & Connector Information

Wiring Map:
Hu-U, Hv-V, Hw-W

 

Manual Downloads

RI60-2D.pdf

RI60 with hall sensor-2D.pdf

RI60 without hall sensor-3D.zip

RI60 with hall sensor-3D.zip

RI60 Test Fixture.zip

 

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Applications

• Collaborative robotic arms

• Exoskeleton joints

• Legged robots and quadrupeds

• Precision medical robotics

• Embedded servo modules

Details

CubeMars RI60 Motor dimensions: Ø60, Ø37, Ø35.8, Ø30, Ø38 (min), Ø58 (max), 15 length, 5 max height, 13 ±0.4 width.

CubeMars RI60 Motor with hall sensor. Dimensions: 60mm diameter, 200mm length. Features 4-R1, φ58, φ32, and 30° angle markings. Includes HW, HV, HU labels.

CubeMars RI60 Motor: Cobot arm/exoskeleton application, FOC driving, -20°C-50°C operation, 14 pole pairs. Rated voltage 24/36/48V, no-load speed 2532/3798/5064rpm, rated torque 0.57Nm, peak torque 1.63Nm.

CubeMars RI60 motor analysis chart at KV120@24VDC. Displays output power, efficiency, current, and speed against torque. Efficiency peaks near 0.2 N.m, with speed decreasing as torque increases.

CubeMars RI60 KV120 motor: 24/36/48V, 85W, 0.57Nm torque, 5.6A current, 1440/2320/3190 RPM speed, 1.63Nm peak torque, 16.8A peak current, 900mΩ resistance, 877.5µH inductance, 14 pole pairs, 155.9g weight, φ60*23mm size.

CubeMars RI60 Motor: Lower cogging torque, smooth running, low noise, strong dynamic.

Hand-wound stator with 0.5mm clearance for optimal performance.

Curved permanent magnet for BEMF Sinus motor design, ensuring easy control.

RI60 Rotor Heightened Version. Overall height increased by 2mm for better hall sensor sensing.

CubeMars RI60 Motor: -40°C to 85°C, high-resolution encoder options.