| CM3+ | CM3M | CM3 | CM2 | CM1 | |
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 Standard model. Servo motor which enables to build a system.
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Modbus RTU(RS485) compatible model. A PLC or PC can be used as a master, and up to 32 axes can be connected as slaves.
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 Low-cost innovative model with improved torque and high-speed performance from CM1 to achieve servo-equivalent performance with a stepping motor.
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 High-end model.
Extensive functions such as PLC function, daisy-chain, interpolation function, etc. |
 Legacy model.
Long seller with better resolution, quietness, and functionality compared to CM3. |
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| Motor | Stepper Motor | Stepper Motor | Stepper Motor | AC Servo Motor | Stepper Motor |
| Input Voltage | DC24V | DC24V | DC24V | AC100～240V | DC24V |
| Motor Size | □42・□56 | □42・□56 | □42・□56 | □56・□60 | □28・□42・□56 |
| Output | 60W〜100W | 60W〜100W | 60W〜100W | 100W〜400W | 9W〜45W |
| Rated Torque [N・m] | 0.25～1.20 | 0.25～1.20 | 0.25～1.20 | 0.19～1.09 | 0.027～0.87 |
| Max. Torque [N・m] | 0.32～1.50 | 0.32～1.50 | 0.32～1.50 | 0.57～3.82 | 0.078～1.24 |
| Max. Speed[min-1] | 5,000 | 5,000 | 5,000 | 8,000 | 3000 |
| Resolution[ppr] | 300～12,000 | 300～12,000 | 300～12,000 | 200～50,000 | 200～50,000 |
| I/O | Input 4 / Output 4 | Input 4 / Output 4 | Input 6 / Output 4 | Input 6 / Output 4 | Input 4 / Output 2 |
| Controlled from upper device | ○ | ○ | ○ | ○ | ○ |
| Program control (built-in function) | ○ | － | － | ○ | ○ |
| Logical operation (built-in function) | ○ | － | － | ○ | － |
| Daisy chain (multi-axis control) | ○ | － | － | ○ | ○ |
| Interpolation (straight, circular) | － | － | － | ○ | － |
| Number of points | 250 | 16 | 32 | 200 | 25 |
| Number of program banks | 30 | － | － | 30 | 30 |
| Teaching Function | ○ | ○ | － | ○ | － |
| RS232C | ○ | － | ○ | ○ | ○ |
| Pulse | － | － | ○ | ○ | ○ |
| I/O | ○ | ○ | ○ | ○ | ○ |
| EtherCAT | (development) | － | － | － | － |
| Modbus RTU | － | ○(RS485) | － | ○(RS232C) | － |
| EtherNet/IP | (development) | － | － | － | － |
| Incremental | ○ * Single-turn ABS |
○ * Single-turn ABS |
○ * Single-turn ABS |
○ | ○ |
| Gearbox for COOL MUSCLE |
CM3+ applicable | CM3 applicable | CM2 applicable | CM1 applicable |
|---|---|---|---|---|
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| Standard Type CM-AB Series |
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| Size | □42・□60 | □42・□60 | □42・□60 | □42・□60 |
| Redcuction ratio | 3〜100 | 3〜100 | 3〜100 | 3〜100 |
| Rduced Backlash | 3〜7 minutes | 3〜7 minutes | 3〜7 minutes | 3〜7 minutes |
| Standard Type(Right Angle) CM-ABR Series |
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| Size | □42・□60 | □42・□60 | □42・□60 | □42・□60 |
| Redcuction ratio | 3〜100 | 3〜100 | 3〜100 | 3〜100 |
| Rduced Backlash | 4〜9 minutes | 4〜9 minutes | 4〜9 minutes | 4〜9 minutes |
| Low Cost Type（with Flange） CM-PA2 Series |
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| Size | □42・□60 | □42・□60 | □42・□60 | □42・□60 |
| Redcuction ratio | 3〜100 | 3〜100 | 3〜100 | 3〜100 |
| Rduced Backlash | 8・10 minutes | 8・10 minutes | 8・10 minutes | 8・10 minutes |
