CubeMars RI70 KV95 Frameless Inrunner Torque Motor | 2448V, 2.68Nm Peak, 270g, Cobot/Exoskeleton Ready

Description

Overview

The CubeMars RI70 KV95 is a high-performance frameless inrunner torque motor specifically designed for collaborative robot arms, exoskeletons, and other precision-driven robotic applications. Operating at 24V to 48V, it delivers a peak torque of 2.68 Nm, a rated torque of 0.94 Nm, and supports high-speed operation up to 3912 RPM. The RI70 motor features lower cogging torque, 0.01 ultra-high resolution control, and a compact frameless architecture, offering flexible integration into various structural designs. Available in two versionswith or without Hall sensorit supports high-precision applications requiring real-time feedback and adaptive dynamics.

Key Features

• Rated Voltage: 24V / 36V / 48V

• KV Rating: 95 rpm/V

• Peak Torque: 2.68 Nm

• High Precision: 0.01 encoder compatibility (Renishaw, Sick, etc.)

• Low Cogging Torque: Enables smooth, low-noise operation

• Frameless Inrunner Design: Compact, lightweight (270.4g), and easy to integrate

• Supports FOC (Field Oriented Control)

• Working Temperature Range: -20C to 50C

• High Copper Fill Factor & Curved Permanent Magnets: For improved torque density

• Optional Rotor Heightened Version: +2mm for optimized Hall sensor detection

Mechanical Drawings

RI70 Without Hall Sensor:

• Outer Diameter: 76 mm (+0.08/-0.02)

• Inner Shaft Hole: 38 0.03 mm

• Body Length: 15 mm

• Max Total Length: 73 mm

• Mounting Depth: 6.5 mm (max)

RI70 With Hall Sensor:

• Rotor height increased by 2mm

• Integrated PCB with angle layout for Hall signal wires

• Additional mounting clearance: 13 mm

• Cable length: 190 5 mm

Electrical Specifications

Parameter	Value
Rated Voltage (V)	24 / 36 / 48
No-Load Speed (RPM)	1956 / 2934 / 3912
Rated Speed (RPM)	1270 / 1990 / 2710
Rated Torque (Nm)	0.94
Peak Torque (Nm)	2.68
Rated Current (ADC)	7.1
Peak Current (ADC)	21
Phase Resistance (m)	418
Phase Inductance (H)	622.7
Ke (V/krpm)	11.69
Kt (Nm/A)	0.130
Kv (rpm/V)	95
Inertia (gcm)	92.15
Km (Nm/W)	0.2011
Mechanical Time Constant (ms)	0.23
Electrical Time Constant (ms)	1.49
Weight (g)	270.4
Torque-to-Weight Ratio	9.91 Nm/kg

Wiring & Connector Details

Signal	Wire Color	Wire Gauge
U	Black	16# Silicone
V	Yellow	16# Silicone
W	Red	16# Silicone
Hu	Blue	30# Silicone
Hv	Green	30# Silicone
Hw	Blue	30# Silicone
VCC	Red	30# Silicone
GND	Black	30# Silicone

Encoder Wiring Correspondence:
Hu U, Hv V, Hw W

Performance Curve (RI70 KV95 @ 24VDC)

• Peak efficiency achieved around 0.3 Nm torque

• Power output reaches ~220W at 2.6 Nm

• Optimal for high-speed, low-load, and smooth-dynamic control environments

Construction Highlights

• Hand-Wound Stator: For high torque density and dynamic response

• Curved Permanent Magnets: Designed for sinusoidal BEMF control

• 0.5mm Clearance: Facilitates precise mounting and airflow

• Wide Operating Range: Supports ambient temperatures from -20C to +50C

• Optional Heightened Rotor: Improves magnetic coupling when used with Hall sensors

Applications

• Collaborative Robot (Cobot) Joints

• Exoskeleton Actuators

• Precision Industrial Arms

• Rehabilitation and Assistive Robotics

• Research and Education Platforms

Encoder Compatibility (Optional)

• High-resolution absolute encoder options (e.g., Renishaw, Sick)

• Resolution up to 0.01

• Encoder mount support built into motor geometry

Details

CubeMars RI70 Motor dimensions: 76, 47, 45.8, 38, 48 (min), 73 (max), 15 length, 6.5 max height.

CubeMars RI70 Motor dimensions: 76mm height, 73mm diameter. Features hall sensor, 4-R1.5 holes, 2005mm length, 1905mm width, and 25 angle.

CubeMars RI70 Motor: Cobot arm/exoskeleton application, FOC driving, -20C-50C operation, 14 pole pairs. Rated voltage 24/36/48V, no-load speed 1956/2934/3912 rpm, rated torque 0.94Nm, peak torque 2.68Nm. Weight 270.4g.

Analysis Chart for RI70 KV95@24VDC motor. Displays output power, efficiency, current, and speed against torque. Graph highlights performance metrics under varying conditions.

CubeMars RI70 Motor: Lower cogging torque, smooth running, low noise, strong dynamic.

Hand-wound stator with 0.5mm clearance for high torque density.

Curved permanent magnet BEMF Sinus motor design for easy control.

RI70 Rotor Heightened Version: Overall height increased by 2mm for improved hall sensor sensing.

Encoder options: High resolution, high precision control with 0.01 accuracy. Features Renishaw, Sick, and other high-precision encoders.