Motors

	Motor Type 1	Motor Type 2	Motor Type 3	Motor Type 4	Motor Type 5
Model	22NT Z13	17N	16GT	DCX 16S	22NT Z20
No load speed	8 700 rpm ±10%	8 400 rpm ±12%	10 700 rpm ±10%	11 400 rpm ±10%	8 700 rpm ±10%
Stall torque	65 mNm ±8%	9.4 mNm ±8%	14.3 mNm ±8%	22.4 mNm ±10%	65 mNm ±8%
Nominal torque	17.8 mNm max	4.9 mNm max	6.2 mNm max	2.6 mNm max	17.8 mNm max
	Speed Reduction Ratio A
	201.3	50.61	150.27	150.27	130.85
	HipYawPitch, HipRoll, AnkleRoll	WristYaw	HeadYaw, ElbowYaw	ShoulderPitch	HipPitch, KneePitch, AnklePitch
	Speed Reduction Ratio B
		36.24	173.22
		Hand	HeadPitch, ShoulderRoll, ElbowRoll