= WAM Specifications = == Motors == || || 1-4 || 5-6 || 7 || BHand || Units || ||Design Voltage || 48 || 48 || 48 || 19.8 || V || ||Back EMF || 0.457 || 0.236 || 0.067 || 0.0177 || V/rad/sec || ||No Load Speed || 100.218 || 192.309 || 569.022 || 1070 || rad/s || ||Max Continuous Torque || 1.490 || 0.356 || 0.091 || 0.0367 || Nm || ||Torque Constant || 0.457 || 0.236 || 0.067 || 0.0177 || Nm/A || ||Inductance || 4.068 || 3.918 || 2.035 || 1.14 || mH || ||Resistance || 3.473 || 6.213 || 5.205 || 4.95 || Ohms || ||Rotor Inertia || 9.293E-5 || 1.472E-5 || 1.349E-6 || 1.41E-7 || kg*m^2 || ||Viscous Friction || 7.549E-5 || 8.899E-6 || 1.259E-6 || 0.674E-6 || Nm/rpm || == Materials == Most machined parts in the WAM are 6061-T6 aluminum. Fasteners and mechanical cables are steel. Electrical wiring is copper. Covers are thermoformed Kydex and type II PVC. Rubber stops are polyurethane. == Power Requirements == The standard WAM system requires an input voltage of 24-90 VDC. The power requirements for both 4-DOF and 7-DOF WAMs are summarized in the table below. For AC operation, a converter for AC mode is supplied. The converter requires 50-60 Hz single-phase 100-120 VAC @ 7A or 200-240 VAC @ 3.5A for proper operation '''DC Power Requirements''' || Status || Control || 4-DOF || 7-DOF || || Powered on, no torques || External || 18 W || 27 W || || Active at home position || External || 30 W || 40 W || || Active at worst-case!** position, 4kg payload || External || 65 W || XXX || || Active at worst-case!** position, 3kg payload || External || XXX || 80 W || || Active at worst-case!** position, 3kg payload || Internal || XXX || 85 W || || Active at worst-case!** position with BH8-280, 2kg payload || Internal || XXX || 120 W || || Peak || External || 600 W || 800 W || !** The worst-case position is the arm fully extended, with the base rotated 90 degrees such that joints 2, 4 and 6 must exert a large torque to counteract gravity.