Reduction ratio 292 156 71 474 184 113 83 23.4 14.68 10.6 216 71 37.9 Length ( L )      mm 27 24 22 27 24 24 22 19 19 19 24 22 19 Voltage          VDC 6 6 6 12 12 12 12 12 12 12 24 24 24 No-load speed  RPM 15 30 60 5 30 50 100 200 360 800 20 60 120 Rated speed  RPM 10.5 21 42 3.5 21 35 70 140 256 560 14 42 84 Rated torque  kg.cm 1.4 0.75 0.35 2.9 1.45 0.87 1.4 0.51 0.22 0.31 2.9 0.95 0.46 Rated Current   A 0.22 0.22 0.22 0.1 0.16 0.16 0.40 0.22 0.20 0.58 0.13 0.13 0.13

Reduction ratio 224 184 184 31 31 12 184 31 31 Length ( L )      mm 29.5 29.5 29.5 25.7 25.7 25.7 29.5 25.7 25.7 Voltage          VDC 12 12 12 12 12 12 24 24 24 No-load speed  RPM 10 15 40 150 322 450 20 120 150 Rated speed  RPM 7 10.5 28 105 225 315 14 84 105 Rated torque  kg.cm 20 26.4 49.3 8.5 8.6 4.0 12 1.6 11.5 Rated Current   A 0.64 1.02 5.32 2.80 4.30 2.89 0.93 0.93 1.48  

Reduction ratio 81.3 81.3 81.3 179 179 179 Length ( L )       mm 41 41 41 24 24 24 Voltage             VDC 12 24 24 12 12 24 No-load speed  RPM 40 40 60 30 40 40 Rated speed  RPM 28 28 42 21 28 28 Rated torque  kg.cm 4.3 10.2 10.1 5.1 3.1 1.0 Rated Current   A 0.52 0.50 0.62 0.32 0.35 0.38